maintenance (servo).pdf

FANUC SERVO MOTOR @ series

MAINTENANCE MANUAL

B-65165E/02

– No part of this manual may be reproduced in any form.– All specifications and designs are subject to change without

notice.

In this manual we have tried as much as possible to describe allthe various matters.However, we cannot describe all the matters which must not bedone, or which cannot be done, because there are so manypossibilities.Therefore, matters which are not especially described as possiblein this manual should be regarded as ’’impossible’

B-65165E/02 SAFETY PRECAUTIONS

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SAFETY PRECAUTIONS

This "Safety Precautions" section describes the precautions whichmust be observed to ensure safety when using FANUC servo motors(including spindle motors) and servo amplifiers (including spindleamplifiers). Users of any servo motor or amplifier model are requestedto read the "Safety Precautions" carefully before using the servo motoror amplifier.The users are also requested to read an applicable specification manualcarefully and understand each function of the motor or amplifier forcorrect use.The users are basically forbidden to do any behavior or action notmentioned in the "Safety Precautions." They are invited to ask FANUCpreviously about what behavior or action is prohibited.

Contents1 DEFINITION OF WARNING, CAUTION, AND NOTE ---- s-22 FANUC SERVO MOTOR series ---------------------------------- s-3

2.1 WARNING -------------------------------------------------------- s-42.2 CAUTION --------------------------------------------------------- s-72.3 NOTE--------------------------------------------------------------- s-8

3 FANUC SERVO AMPLIFIER series----------------------------- s-113.1 WARNINGS AND CAUTIONS RELATING

TO MOUNTING ------------------------------------------------- s-123.1.1 WARNING ------------------------------------------------ s-123.1.2 CAUTION ------------------------------------------------- s-143.1.3 NOTE------------------------------------------------------- s-16

3.2 WARNINGS AND CAUTIONS RELATING TOA PILOT RUN---------------------------------------------------- s-173.2.1 WARNING ------------------------------------------------ s-173.2.2 CAUTION ------------------------------------------------- s-18

3.3 WARNINGS AND CAUTIONS RELATINGTO MAINTENANCE ------------------------------------------- s-193.3.1 WARNING ------------------------------------------------ s-193.3.2 CAUTION ------------------------------------------------- s-213.3.3 NOTE------------------------------------------------------- s-22

1. DEFINITION OF WARNING, CAUTION, AND NOTE SAFETY PRECAUTIONS B-65165E/02

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1 DEFINITION OF WARNING, CAUTION, AND NOTE

This manual includes safety precautions for protecting the user andpreventing damage to the machine. Precautions are classified intoWarning and Caution according to their bearing on safety. Also,supplementary information is described as a Note. Read the Warning,Caution, and Note thoroughly before attempting to use the machine.

WARNINGApplied when there is a danger of the user beinginjured or when there is a damage of both the userbeing injured and the equipment being damaged ifthe approved procedure is not observed.

CAUTIONApplied when there is a danger of the equipmentbeing damaged, if the approved procedure is notobserved.

NOTEThe Note is used to indicate supplementaryinformation other than Warning and Caution.

* Read this manual carefully, and store it in a safe place.

B-65165E/02 SAFETY PRECAUTIONS 2.FANUC SERVO MOTOR series

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2 FANUC SERVO MOTOR series

2.FANUC SERVO MOTOR series SAFETY PRECAUTIONS B-65165E/02

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2.1 WARNING

- Be safely dressed when handling a motor.Wear safety shoes or gloves when handling a motor as you mayget hurt on any edge or protrusion on it or electric shocks.

- Use a crane or lift to move a motor from one place to another.Motors are heavy. When moving them, use a crane or lift asrequired. (For the weight of motors, refer to their respectivespecification manuals.)When moving a motor using a crane or lift, use a hanging bolt ifthe motor has a corresponding tapped hole, or textile rope if it hasno tapped hole.If a motor is attached with a machine or any other heavy stuff, donot use a hanging bolt to move the motor as the hanging boltand/or motor may get broken.When moving a motor, be careful not to apply excessive force toits windings as the windings may break and/or their insulationmay deteriorate.

- Do not touch a motor with a wet hand.A failure to observe this caution is vary dangerous because youmay get electric shocks.

- Before starting to connect a motor to electric wires, makesure they are isolated from an electric power source.A failure to observe this caution is vary dangerous because youmay get electric shocks.

- Do not bring any dangerous stuff near a motor.Motors are connected to a power line, and may get hot. If aflammable is placed near a motor, it may be ignited, catch fire, orexplode.

- Be sure to ground a motor frame.To avoid electric shocks, be sure to connect the groundingterminal in the terminal box to the grounding terminal of themachine.

- Do not ground a motor power wire terminal or short-circuit itto another power wire terminal.A failure to observe this caution may cause electric shocks or aburned wiring.(*) Some motors require a special connection such as a winding

changeover. Refer to their respective motor specificationmanuals for details.


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- Connect power wires securely so that they will not get loose.A failure to observe this caution may cause a wire to bedisconnected, resulting in a ground fault, short circuit, or electricshock.

- Do not supply the power to the motor while any terminal isexposed.A failure to observe this caution is very dangerous because youmay get electric shocks if your body or any conductive stufftouches an exposed terminal.

- Do not get close to a rotary section of a motor when it isrotating.A rotating part may catch your cloths or fingers. Before starting amotor, ensure that there is no stuff that can fly away (such as akey) on the motor.

- Before touching a motor, shut off the power to it.Even if a motor is not rotating, there may be a voltage across theterminals of the motor.Especially before touching a power supply connection, takesufficient precautions.Otherwise you may get electric shocks.

- Do not touch any terminal of a motor for a while (at least 5minutes) after the power to the motor is shut off.High voltage remains across power line terminals of a motor for awhile after the power to the motor is shut off. So, do not touch anyterminal or connect it to any other equipment. Otherwise, youmay get electric shocks or the motor and/or equipment may getdamaged.

- To drive a motor, use a specified amplifier and parameters.An incorrect combination of a motor, amplifier, and parametersmay cause the motor to behave unexpectedly. This is dangerous,and the motor may get damaged.

- Do not touch a motor when it is running or immediately afterit stops.A motor may get hot when it is running. Do not touch the motorbefore it gets cool enough. Otherwise, you may get burned.

- Ensure that motors and related components are mountedsecurely.If a motor or its component slips out of place or comes off whenthe motor is running, it is very dangerous.


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- Be careful not get your hair or cloths caught in a fan.Be careful especially for a fan used to generate an inward air flow.Be careful also for a fan even when the motor is stopped, becauseit continues to rotate while the amplifier is turned on.


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2.2 CAUTION

- FANUC motors are designed for use with machines. Do notuse them for any other purpose.If a FANUC motor is used for an unintended purpose, it maycause an unexpected symptom or trouble. If you want to use amotor for an unintended purpose, previously consult withFANUC.

- Ensure that a base or frame on which a motor is mounted isstrong enough.Motors are heavy. If a base or frame on which a motor is mountedis not strong enough, it is impossible to achieve the requiredprecision.

- Be sure to connect motor cables correctly.An incorrect connection of a cable cause abnormal heatgeneration, equipment malfunction, or failure. Always use acable with an appropriate current carrying capacity (or thickness).For how to connect cables to motors, refer to their respectivespecification manuals.

- Ensure that motors are cooled if they are those that requireforcible cooling.If a motor that requires forcible cooling is not cooled normally, itmay cause a failure or trouble. For a fan-cooled motor, ensure thatit is not clogged or blocked with dust and dirt. For a liquid-cooledmotor, ensure that the amount of the liquid is appropriate and thatthe liquid piping is not clogged.For both types, perform regular cleaning and inspection.

- When attaching a component having inertia, such as a pulley,to a motor, ensure that any imbalance between the motor andcomponent is minimized.If there is a large imbalance, the motor may vibrates abnormally,resulting in the motor being broken.

- Be sure to attach a key to a motor with a keyed shaft.If a motor with a keyed shaft runs with no key attached, it mayimpair torque transmission or cause imbalance, resulting in themotor being broken.


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2.3 NOTE

- Do not step or sit on a motor.If you step or sit on a motor, it may get deformed or broken. Donot put a motor on another unless they are in packages.

- When storing a motor, put it in a dry (non-condensing) placeat room temperature (0 to 40 5C).If a motor is stored in a humid or hot place, its components mayget damaged or deteriorated. In addition, keep a motor in such aposition that its shaft is held horizontal and its terminal box is atthe top.

- Do not remove a nameplate from a motor.If a nameplate comes off, be careful not to lose it. If the nameplateis lost, the motor becomes unidentifiable, resulting inmaintenance becoming impossible.For a nameplate for a built-in spindle motor, keep the nameplatewith the spindle.

- Do not apply shocks to a motor or cause scratches to it.If a motor is subjected to shocks or is scratched, its componentsmay be adversely affected, resulting in normal operation beingimpaired. Be very careful when handling plastic portions, sensors,and windings, because they are very liable to break. Especially,avoid lifting a motor by pulling its plastic portion, winding, orpower cable.

- Do not conduct dielectric strength or insulation test for adetector.Such a test can damage elements in the detector.

- When testing the winding or insulation resistance of a motor,satisfy the conditions stipulated in IEC34.Testing a motor under a condition severer than those specified inIEC34 may damage the motor.

- Do not disassemble a motor.Disassembling a motor may cause a failure or trouble in it.If disassembly is in need because of maintenance or repair, pleasecontact a service representative of FANUC.

- Do not modify a motor.Do not modify a motor unless directed by FANUC. Modifying amotor may cause a failure or trouble in it.


s - 9

- Use a motor under an appropriate environmental condition.Using a motor in an adverse environment may cause a failure ortrouble in it.Refer to their respective specification manuals for details of theoperating and environmental conditions for motors.

- Do not apply a commercial power source voltage directly to amotor.Applying a commercial power source voltage directly to a motormay result in its windings being burned. Be sure to use a specifiedamplifier for supplying voltage to the motor.

- For a motor with a terminal box, make a conduit hole for theterminal box in a specified position.When making a conduit hole, be careful not to break or damageunspecified portions.Refer to an applicable specification manual.

- Before using a motor, measure its winding and insulationresistances, and make sure they are normal.Especially for a motor that has been stored for a prolonged periodof time, conduct these checks. A motor may deterioratedepending on the condition under which it is stored or the timeduring which it is stored. For the winding resistances of motors,refer to their respective specification manuals, or ask FANUC.For insulation resistances, see the following table.

- To use a motor as long as possible, perform periodicmaintenance and inspection for it, and check its winding andinsulation resistances.Note that extremely severe inspections (such as dielectric strengthtests) of a motor may damage its windings. For the windingresistances of motors, refer to their respective specificationmanuals, or ask FANUC. For insulation resistances, see thefollowing table.


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MOTOR INSULATION RESISTANCE MEASUREMENTMeasure an insulation resistance between each winding andmotor frame using an insulation resistance meter (500 VDC).Judge the measurements according to the following table.

Insulationresistance

Judgment

100MΩ orhigher

Acceptable

10 to 100 MΩ The winding has begun deteriorating. There is noproblem with the performance at present. Be sure toperform periodic inspection.

1 to 10 MΩ The winding has considerably deteriorated. Specialcare is in need. Be sure to perform periodicinspection.

Lower than 1MΩ

Unacceptable. Replace the motor.

3. FANUC SERVO AMPLIFIERB-65165E/02 SAFETY PRECAUTIONS series

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3 FANUC SERVO AMPLIFIER series

3. FANUC SERVO AMPLIFIER series SAFETY PRECAUTIONS B-65165E/02

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3.1 WARNINGS AND CAUTIONS RELATING TO MOUNTING

3.1.1 WARNING

- Check the specification code of the amplifier.Check that the delivered amplifier is as originally ordered.

- Mount a ground fault interrupter.To guard against fire and electric shock, fit the factory powersupply or machine with a ground fault interrupter (designed foruse with an inverter).

- Securely ground the amplifier.Securely connect the ground terminal and metal frame of theamplifier and motor to a common ground plate of the powermagnetics cabinet.

- Be aware of the weight of the amplifier and othercomponents.Control motor amplifiers and AC reactors are heavy. Whentransporting them or mounting them in the cabinet, therefore, becareful not to injured yourself or damage the equipment. Beparticularly carefull not to jam your fingers between the cabinetand amplifier.

- Never ground or short-circuit either the power supply lines orpower lines.Protect the lines from any stress such as bending. Handle the endsappropriately.

- Ensure that the power supply lines, power lines, and signallines are securely connected.A loose screw, loose connection, or the like will cause a motormalfunction or overheating, or a ground fault.

- Insulate all exposed parts that are charged.

- Never touch the regenerative discharge resistor or radiatordirectly.The surface of the radiator and regenerative discharge unitbecome extremely hot. Never touch them directly. Anappropriate structure should also be considered.

- Close the amplifier cover after completing the wiring.Leaving the cover open presents a danger of electric shock.

- Do not disassemble the amplifier.


s - 13

- Ensure that the cables used for the power supply lines andpower lines are of the appropriate diameter and temperatureratings.

- Do not apply an excessively large force to plastic parts.If a plastic section breaks, it may cause internal damage, thusinterfering with normal operation. The edge of a broken section islikely to be sharp and, therefore, presents a risk of injury.


s - 14

3.1.2 CAUTION

- Do not step or sit on the amplifier.Also, do not stack unpacked amplifiers on top of each other.

- Use the amplifier in an appropriate environment.See the allowable ambient temperatures and other requirements,given in the corresponding descriptions.

- Protect the amplifier from corrosive or conductive mist ordrops of water.Use a filter if necessary.

- Protect the amplifier from impact.Do not place anything on the amplifier.

- Do not block the air inlet to the radiator.A deposit of coolant, oil mist, or chips on the air inlet will result ina reduction in the cooling efficiency. In some cases, the requiredefficiency cannot be achieved. The deposit may also lead to areduction in the useful life of the semiconductors. Especially,when outside air is drawn in, mount filters on both the air inlet andoutlet. These filters must be replaced regularly.So, an easy-to-replace type of filter should be used.

- Before connecting the power supply wiring, check the supplyvoltage.Check that the supply voltage is within the range specified in thismanual, then connect the power supply lines.

- Ensure that the combination of motor and amplifier isappropriate.

- Ensure that valid parameters are specified.Specifying an invalid parameter for the combination of motor andamplifier may not only prevent normal operation of the motor butalso result in damage to the amplifier.

- Ensure that the amplifier and peripheral equipment aresecurely connected.Check that the magnetic contactor, circuit breaker, and otherdevices mounted outside the amplifier are securely connected toeach other and that those devices are securely connected to theamplifier.

- Check that the amplifier is securely mounted in the powermagnetics cabinet.If any clearance is left between the power magnetics cabinet andthe surface on which the amplifier is mounted, dust entering thegap may build up and prevent the normal operation of theamplifier.


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- Apply appropriate countermeasures against noise.Adequate countermeasures against noise are required to maintainnormal operation of the amplifier. For example, signal lines mustbe routed away from power supply lines and power lines.


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3.1.3 NOTE

- Keep the nameplate clearly visible.

- Keep the legend on the nameplate clearly visible.

- After unpacking the amplifier, carefully check for anydamage.

- Mount the amplifier in a location where it can be easilyaccessed periodic inspection and daily maintenance.

- Leave sufficient space around the machine to enablemaintenance to be performed easily.Do not place any heavy objects such that they would interferewith the opening of the doors.

- Keep the parameter table and spare parts at hand.Also, keep the specifications at hand. These items must be storedin a location where they can be retrieved immediately.

- Provide adequate shielding.A cable to be shielded must be securely connected to the groundplate, using a cable clamp or the like.


s - 17

3.2 WARNINGS AND CAUTIONS RELATING TO A PILOT RUN

3.2.1 WARNING

- Before turning on the power, check that the cables connectedto the power magnetics cabinet and amplifier, as well as thepower lines and power supply lines, are securely connected.Also, check that no lines are slack.

- Before turning on the power, ensure that the power magneticscabinet is securely grounded.

- Before turning on the power, check that the door of the powermagnetics cabinet and all other doors are closed.Ensure that the door of the power magnetics cabinet containingthe amplifier, and all other doors, are securely closed. Duringoperation, all doors must be closed and locked.

- Apply extreme caution if the door of the power magneticscabinet or another door must be opened.Only a person trained in the maintenance of the correspondingmachine or equipment should open the door, and only aftershutting off the power supply to the power magnetics cabinet (byopening both the input circuit breaker of the power magneticscabinet and the factory switch used to supply power to thecabinet). If the machine must be operated with the door open toenable adjustment or for some other purpose, the operator mustkeep his or her hands and tools well away from any dangerousvoltages. Such work must be done only by a person trained in themaintenance of the machine or equipment.

- When operating the machine for the first time, check that themachine operates as instructed.To check whether the machine operates as instructed, first specifya small value for the motor, then increase the value gradually. Ifthe motor operates abnormally, perform an emergency stopimmediately.

- After turning on the power, check the operation of theemergency stop circuit.Press the emergency stop button to check that the motor stopsimmediately, and that the power being supplied to the amplifier isshut off by the magnetic contactor.

- Before opening a door or protective cover of a machine toenable adjustment of the machine, first place the machine inthe emergency stop state and check that the motor hasstopped.


s - 18

3.2.2 CAUTION

- Note whether an alarm status relative to the amplifier isdisplayed at power-up or during operation.If an alarm is displayed, take appropriate action as explained inthe maintenance manual. If the work to be done requires that thedoor of the power magnetics cabinet be left open, the work mustbe carried out by a person trained in the maintenance of themachine or equipment. Note that if some alarms are forcibly resetto enable operation to continue, the amplifier may be damaged.Take appropriate action according to the contents of the alarm.

- Before operating the motor for the first time, mount andadjust the position and speed detectors.Following the instructions given in the maintenance manual,adjust the position and speed detectors for the spindle so that anappropriate waveform is obtained.If the detectors are not properly adjusted, the motor may not rotatenormally or the spindle may fail to stop as desired.

- If the motor makes any abnormal noise or vibration whileoperating, stop it immediately.Note that if operation is continued in spite of there being someabnormal noise or vibration, the amplifier may be damaged. Takeappropriate corrective action, then resume operation.

- Observe the ambient temperature and output ratingrequirements.The continuous output rating or continuous operation period ofsome amplifiers may fall as the ambient temperature increases. Ifthe amplifier is used continuously with an excessive load applied,the amplifier may be damaged.


s - 19

3.3 WARNINGS AND CAUTIONS RELATING TO MAINTENANCE

3.3.1 WARNING

- Read the maintenance manual carefully and ensure that youare totally familiar with its contents.The maintenance manual describes daily maintenance and theprocedures to be followed in the event of an alarm being issued.The operator must be familiar with these descriptions.

- Notes on replacing a fuse or PC board1) Before starting the replacement work, ensure that the circuit

breaker protecting the power magnetics cabinet is open.2) Check that the red LED that indicates that charging is in

progress is not lit.The position of the charging LED on each model of amplifieris given in this manual. While the LED is lit, hazardousvoltages are present inside the unit, and thus there is a dangerof electric shock.

3) Some PC board components become extremely hot. Becareful not to touch these components.

4) Ensure that a fuse having an appropriate rating is used.5) Check the specification code of a PC board to be replaced. If

a modification drawing number is indicated, contact FANUCbefore replacing the PC board.Also, before and after replacing a PC board, check its pinsettings.

6) After replacing the fuse, ensure that the screws are firmlytightened. For a socket-type fuse, ensure that the fuse isinserted correctly.

7) After replacing the PC board, ensure that it is securelyconnected.

8) Ensure that all power lines, power supply lines, andconnectors are securely connected.

- Take care not to lose any screws.When removing the case or PC board, take care not to lose anyscrews. If a screw is lost inside the nit and the power is turned on,the machine may be damaged.


s - 20

- Notes on replacing the battery of the absolute pulse coderReplace the battery only while the power is on. If the battery isreplaced while the power is turned off, the stored absolutepositioning data will be lost. Some series servo amplifiermodules have batteries in their servo amplifiers. To replace thebattery of any of those models, observe the following procedure:Open the door of the power magnetics cabinet; Leave the controlpower of the power supply module on; Place the machine in theemergency stop state so that the power being input to the amplifieris shut off; Then, replace the battery. Replacement work shouldbe done only by a person who is trained in the related maintenanceand safety requirements. The power magnetics cabinet in whichthe servo amplifier is mounted has a high-voltage section. Thissection presents a severe risk of electric shock.

- Check the number of any alarm.If the machine stops upon an alarm being issued, check the alarmnumber. Some alarms indicate that a component must be replaced.If the power is reconnected without first replacing the failedcomponent, another component may be damaged, making itdifficult to locate the original cause of the alarm.

- Before resetting an alarm, ensure that the original cause ofthe alarm has been removed.

- Contact FANUC whenever a question relating tomaintenance arises.

- Notes on removing the amplifierBefore removing the amplifier, first ensure that the power is shutoff. Be careful not to jam your fingers between the powermagnetics cabinet and amplifier.


s - 21

3.3.2 CAUTION

- Ensure that all required components are mounted.When replacing a component or PC board, check that allcomponents, including the snubber capacitor, are correctlymounted. If the snubber capacitor is not mounted, for example,the IPM will be damaged.

- Tighten all screws firmly.

- Check the specification code of the fuse, PC board, and othercomponents.When replacing a fuse or PC board, first check the specificationcode of the fuse or PC board, then mount it in the correct position.The machine will not operate normally if a fuse or PC boardhaving other than the correct specification code is mounted, or ifa fuse or PC board is mounted in the wrong position.

- Mount the correct cover.The cover on the front of the amplifier carries a label indicating aspecification code. When mounting a previously removed frontcover, take care to mount it on the unit from which it wasremoved.

- Notes on cleaning the heat sink and fan1) A dirty heat sink or fan results in reduced semiconductor

cooling efficiency, which degrades reliability. Periodiccleaning is necessary.

2) Using compressed air for cleaning scatters the dust. Adeposit of conductive dust on the amplifier or peripheralequipment will result in a failure.

3) To clean the heat sink, do so only after turning the power offand ensuring that the heat sink has cooled to roomtemperature. The heat sink becomes extremely hot, such thattouching it during operation or immediately after power-offis likely to cause a burn. Be extremely careful whentouching the heat sink.


s - 22

3.3.3 NOTE

- Ensure that the battery connector is correctly inserted.If the power is shut off while the battery connector is notconnected correctly, the absolute position data for the machinewill be lost.

- Store the manuals in a safe place.The manuals should be stored in a location where they can beaccessed immediately it so required during maintenance work.

- Notes on contacting FANUCInform FANUC of the details of an alarm and the specificationcode of the amplifier so that any components required formaintenance can be quickly secured, and any other necessaryaction can be taken without delay.

B-65165E/02 PREFACE

p - 1

PREFACE

Organization of Parts I and II

This manual describes information necessary to maintain FANUCservo amplifier α series products, such as a power supply module,servo amplifier module, and spindle amplifier module.Part I explains the start-up procedure, and part II focuses ontroubleshooting.

The abbreviations listed below are used in this manual.

Product name AbbreviationsFANUC Series 0-TC FS0-TCFANUC Series 0-MC FS0-MCFANUC Series 15i, 15 FS15i, FS15FANUC Series 16i, 16 FS16i, FS16FANUC Series 18i, 18 FS18i, FS18FANUC Series 20 FS20FANUC Series 21i, 21 FS21i, FS21FANUC Power Mate-MODEL E PM-EFANUC Power Mate-MODEL D PM-DFANUC Power Mate-MODEL F PM-FPower Supply Module PSMServo Amplifier Module SVMSpindle Amplifier Module SPM

* In this manual, the parameter numbers of servo parameters aresometimes indicated without CNC product names as follows:

Series 16i, 18i, 21i,16, 18, 20, 21 Power Mate MODEL D, F

1877 8x62 Overload protection coefficient (OVC1)

2062 1062

Series 0C Servo parameter function name or bit

Power Mate MODEL E

Series 15i, 15

* The manuals shown below provide information related to thismanual. This manual may refer you to these manuals.

1) FANUC SERVO AMPLIFIER α series DescriptionsB-65162E

2) FANUC AC SERVO MOTOR α series Parameter ManualB-65150E

3) FANUC AC SPINDLE MOTOR α series Parameter ManualB-65160E

B-65165E/02 Table of Contents

Table of Contents

SAFETY PRECAUTIONS.................................................................. s - 1

PREFACE ......................................................................................... p - 1

I. START-UP PROCEDURE

1 OVERVIEW...................................................................................................................3

2 CONFIGURATIONS......................................................................................................4

2.1 CONFIGURATIONS......................................................................................................................... 5

2.2 MAJOR COMPONENTS.................................................................................................................. 7

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3 START-UP PROCEDURE ..........................................................................................23

3.1 START-UP PROCEDURE (OVERVIEW) ...................................................................................... 24

3.2 CONNECTING THE POWER........................................................................................................ 25

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3.3 SETTING THE PRINTED-CIRCUIT BOARD................................................................................. 27

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3.4 INITIALIZING SERVO PARAMETERS.......................................................................................... 31

4 CONFIRMATION OF THE OPERATION ....................................................................32

4.1 POWER SUPPLY MODULE.......................................................................................................... 33

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Table of Contents B-65165E/02

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5 PERIODIC MAINTENANCE OF SERVO AMPLIFIER ................................................84

5.1 BATTERY FOR THE ABSOLUTE PULSE CODER....................................................................... 85

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II. TROUBLESHOOTING

1 OVERVIEW.................................................................................................................97

2 ALARM NUMBERS AND BRIEF DESCRIPTIONS ....................................................98

2.1 FOR SERIES 16i, 18i, 20i, 21i, AND Power Mate i....................................................................... 99

2.2 FOR SERIES 15i ......................................................................................................................... 102

2.3 FOR SERIES 16, 18, 20, 21 ........................................................................................................ 105

2.4 FOR SERIES 15 .......................................................................................................................... 108

2.5 FOR SERIES 0-C......................................................................................................................... 112

3 TROUBLESHOOTING AND ACTION.......................................................................115

3.1 POWER SUPPLY MODULE........................................................................................................ 116

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##/ 0 $$$!!! *$#2

## $4$!! ($ $$!$6!! #

##2 ,!)$"

3.4 SPINDLE AMPLIFIER MODULE ................................................................................................. 144

#" α$ α ""

#" $3!"3$ !)AA ! *$ $<!$ < ""

#" $"-

#"# $"/

#"" $#"

#"- $""

#"/ $"2

#" $"2

#"2 $"

#" $-

#" $#-

#" $--

#" $/-

#"# $$ -

#"" $"-


-

#"- $--

#"/ $/-#

#" $--

#"2 $2-/

#" $-

#" $#-2

#" $#-2

#" $#-

#"# $##-

#"" $#"-

#"- $#-/

#"/ $#//

#" $#/

#" $(#/

#" $"/#

#" $"/"

#"# $"/-

#"" $"#/-

#"- $""/-

#"/ $"//-

#" $"//

#"2 $"/

#" $-/

#" $-/

#" $-$ -#/2

#" $-"/2

#"# $--/2

#"" $-//

#"- $-/

#"/ $-2/

#" $-

#"# α(

#"# $

#"# $#-

3.5 POWER-FAILURE BACKUP MODULE....................................................................................... 173

#- $(#

#- $(#

#-# $(##

#-" $(""

#-- $(-"

4 HOW TO REPLACE THE FUSES AND PRINTED CIRCUIT BOARDS ...................175

4.1 CASE DISASSEMBLY ................................................................................................................. 178

" />8!) 2


/

" -8!) !) !!)( ! 2

"# -8!) !)!)( ! 2

"" #8 !) !!)( ! 2-

"- #8 !)!)( !

4.2 REPLACING FUSES ................................................................................................................... 196

" /

"

"#

"" %$ &$'

4.3 OTHER COMPONENTS.............................................................................................................. 203

"# 4$ *!)*$4,$ #

III. MOTOR MAINTENANCE

1 AC SERVO MOTOR MAINTENANCE ......................................................................209

1.1 RECEIVING AND KEEPING AC SERVO MOTORS ................................................................... 210

1.2 DAILY INSPECTION OF AC SERVO MOTORS ......................................................................... 211

1.3 PERIODIC INSPECTION OF AC SERVO MOTORS .................................................................. 213

1.4 REPLACING THE PULSE CODER ............................................................................................. 216

1.5 SPECIFICATION NUMBERS OF REPLACEMENT PARTS ....................................................... 225

2 SPINDLE MOTOR MAINTENANCE .........................................................................227

2.1 PREVENTIVE MAINTENANCE ................................................................................................... 228

2.2 MAINTENANCE PARTS.............................................................................................................. 232

2.3 PERMISSIBLE RADIAL LOAD..................................................................................................... 236

I. START-UP PROCEDURE

B-65165E/02 START-UP PROCEDURE 1. OVERVIEW

- 3 -

1 OVERVIEW

This part describes the units and components of the FANUC servoamplifier α series. It also explains the following information necessaryto start up the control motor amplifier:• Connecting the power• Setting the printed-circuit board• Initializing the parameter• Confirmation of the operation

2. CONFIGURATIONS START-UP PROCEDURE B-65165E/02

- 4 -

2 CONFIGURATIONS

B-65165E/02 START-UP PROCEDURE 2. CONFIGURATIONS

- 5 -

2.1 CONFIGURATIONS

The FANUC servo amplifier α series consists of the units andcomponents listed below:(1) Power supply module (PSM) (basic)(2) Servo amplifier module (SVM) (basic)(3) Spindle amplifier module (SPM) (basic)(4) AC reactor (basic)(5) Connectors (for connecting cables) (basic)(6) Fuses (basic)(7) Power transformer (option)(8) Fan adaptor (option)

The diagram below shows an example of a basic configuration of theFANUC servo amplifier α series system. The basic configurationconsists of two two-axis servo amplifier modules and one spindleamplifier module.

: Standard

: Optional

: Units prepared by the machine tool builder

Power supplymodule

Spindle amplifiermodule

Servo amplifiermodule (2-axis)

Servo amplifiermodule (2-axis)

P

N

DC link (300 VDC)

PSM SPM SVM SVM

200R,200S, PE

L1 L2 L3 PE U V W PEUL VL WL PE

UM VM WM PE

UL VL WL PE

UM VM WM

AC input forcontrol powersupply

1

1

Circuit breaker 2

(380VAC)

(415VAC)

(460VAC)

200 VAC

220 VAC

230 VAC

Power transformer

3

3

Circuitbreaker

1

Magneticcontactor

ACreactor

Circuit breaker 3

Fan

Spindlemotor

Servomotor

Servomotor

Servomotor

Servomotor


- 6 -

NOTE1 Refer to the Servo Amplifier α series Descriptions

(B-65162E) for combinations of the power supplymodule, servo amplifier module, and spindleamplifier module.

2 Always use the circuit breakers, magnetic contactor,and AC reactor.

3 Install a surge suppressor between the power linesand between each power line and a ground at theinput of the power magnetics cabinet to protect thesystem from lightning surge.


- 7 -

2.2 MAJOR COMPONENTS

2.2.1 Power Supply Modules

2.2.1.1 α series power supply modules

(1) Power supply modules (PSM) (200 VAC input, power regenerationtype), CE-marked products

Model Order specificationUnit

specificationWiring boardspecification

Printed circuitboard

specification

Driver boardspecification

Connectorboard

specification

A06B-6077-H106(Revision B or later)

A16B-2202-0420(Revision 05D orlater)PSM-5.5

A06B-6077-H106#BM

A06B-6077-C106(Revision B orlater) A16B-2202-0423


A16B-2202-0420(Revision 05D orlater)PSM-11

A06B-6077-H111#BM

A06B-6077-C111(Revision B orlater)

A16B-2202-0661

A16B-2202-0423



A06B-6087-H115#BM


A20B-1006-0470

A16B-2202-0424



A06B-6087-H126#BM


A20B-1006-0471

A16B-2202-0424



A06B-6087-H130#BM

A06B-6087-C130(Revision B orlater) A16B-2202-0424

A06B-6087-H137 A16B-2202-0421PSM-37

A06B-6087-H137#BMA06B-6087-C137

A20B-1006-0472

A16B-2202-0424

A20B-2902-0390

A20B-1006-0680A06B-6087-H145

A20B-1007-0650A16B-2202-0421

A20B-1006-0680PSM-45

A06B-6087-H145#BM

A06B-6087-C145

A20B-1007-0650A16B-2202-0424

A06B-6087-H155 A16B-2202-0421PSM-55

A06B-6087-H155#BM

A06B-6087-C155

A20B-1007-0650A16B-2202-0424

A20B-2002-0080

* The PSM-45 has been replaced by the PSM-55 (as of August 1999).


- 8 -

(2) Power supply modules (PSMR) (200 VAC input, resistancedischarge type), CE-marked products

Model Order specification Unit specificationWiring boardspecification

Printed circuit boardspecification

PSMR-3A06B-6081-H103(Revision C or later)

A06B-6081-C103A16B-2202-0542(Revision 06B or later)

A16B-2001-0890

PSMR-5.5A06B-6081-H106(Revision C or later)

A06B-6081-C106A16B-2202-0541(Revision 06B or later)

A16B-2001-0890

(3) Power supply modules (PSM) (200 VAC input, powerregeneration type), CE-marked products

ModelOrder

specificationUnit



specification


Connectorboard

specificationA16B-2202-0460

PSM-5.5A06B-6077-H106(Revision A)

A06B-6077-C106(Revision A) A16B-2202-0461

PSM-11A06B-6077-H111(Revision A)

A06B-6077-C111(Revision A)

A16B-2202-0461

A16B-2202-0420(Revision 04C orearlier)

A06B-6077-H115 A06B-6071-C112 A20B-1005-0591 A16B-2202-0080A20B-2001-0011

A20B-2001-0130

PSM-15A06B-6087-H115(Revision A)

A06B-6087-C115(Revision A)

A20B-1006-0160A16B-2202-0421(Revision 04C orearlier)

A20B-2902-0280

A06B-6077-H126 A06B-6071-C122 A20B-1005-0590 A16B-2202-0080A20B-2001-0011

A20B-2001-0130

PSM-26 A06B-6087-H126(Revision B orearlier)

A06B-6087-C126(Revision B orearlier)


A20B-2902-0280

A06B-6077-H130 A06B-6071-C126 A20B-1005-0592 A16B-2202-0080A20B-2001-0011

A20B-2001-0130

PSM-30 A06B-6087-H130(Revision B orearlier)

A06B-6087-C130(Revision B orearlier)


A20B-2902-0280

(4) Power supply modules (PSMR) (200 VAC input, resistancedischarge type), CE-marked products



PSMR-3A06B-6081-H103(Revision B or earlier)

A06B-6081-C103(Revision B or earlier)

A16B-2202-0542(Revision 05A or earlier)

A16B-2300-0100

PSMR-5.5A06B-6081-H106(Revision B or earlier)

A06B-6081-C106(Revision B or earlier)

A16B-2202-0541(Revision 05A or earlier)

A16B-2300-0100


- 9 -

2.2.1.2 α (HV) series power supply modules

(1) Power supply modules (PSM-HV) (400 VAC input, powerregeneration type)




specification

PSM-18HV A06B-6091-H118 A06B-6091-C118 A20B-1006-0611

PSM-30HV A06B-6091-H130 A06B-6091-C130 A20B-1006-0610PSM-45HV A06B-6091-H145 A06B-6091-C145 A20B-1006-0612

A20B-1006-0681PSM-75HV A06B-6091-H175 A06B-6091-C175

A20B-1007-0651

A20B-2002-0080 A16B-2202-0422

(2) Capacitor modules (PSMC-HV) (for the PSM-HV series)

Model Order specification Unit specification Capacitor specification

PSMC-18HV A06B-6083-H218 A06B-6083-C218 A42L-0001-0340 (× 2)

PSMC-30HV A06B-6083-H230 A06B-6083-C230 A42L-0001-0314 (× 2)PSMC-45HV A06B-6083-H245 A06B-6083-C245 A42L-0001-0322 (× 2)

(3) Power supply module (PSMV-HV) (400 VAC input, 300 VDCoutput, power regeneration type)




specification

PSMV-11HV A06B-6098-H111 A06B-6098-C111 A20B-1007-0200 A20B-2002-0530 A16B-2203-0220

(4) AC reactor unit (PSMV-HV)

Order specification Unit specification AC reactor Fuse

A06B-6098-H001 A06B-6098-C001 A81L-0001-0144 A60L-0001-0362#100U


- 10 -

2.2.2 Servo Amplifier Modules

2.2.2.1 200-V input series

(1) Single-axis servo amplifier modules (interface: Type A/B)

ModelOrder



specificationRemarks

SVM1-2 A06B-6079-H121 A16B-2202-0742

SVM1-4 A06B-6079-H122 A16B-2202-0743

SVM1-12 A06B-6079-H101 A16B-2202-0740

SVM1-20 A06B-6079-H102 A16B-2202-0741

SVM1-40S A06B-6079-H103A16B-2203-0450(A16B-2202-0760)

Enclosed in parentheses are thedrawing numbers of the oldspecifications.

SVM1-40L A06B-6079-H104A16B-2203-0451(A16B-2202-0761)

SVM1-80 A06B-6079-H105A16B-2203-0452(A16B-2202-0762)

A20B-2001-0930

SVM1-130 A06B-6079-H106A16B-2203-0454(A16B-2202-0790)

A20B-2001-0932

SVM1-240 A06B-6079-H107 A20B-1006-0485 A16B-2202-0990

SVM1-360 A06B-6079-H108 A20B-1006-0485 A16B-2202-0991

(2) Two-axis servo amplifier modules (interface: Type A/B)

ModelOrder




SVM2-3/3 A06B-6079-H291 A16B-2202-0753

SVM2-12/12 A06B-6079-H201 A16B-2202-0750

SVM2-12/20 A06B-6079-H202 A16B-2202-0751

SVM2-20/20 A06B-6079-H203 A16B-2202-0752

SVM2-12/40 A06B-6079-H204A16B-2203-0590(A16B-2202-0770)

Enclosed in parentheses are thedrawing numbers of the oldspecifications.

SVM2-20/40 A06B-6079-H205A16B-2203-0591(A16B-2202-0771)

SVM2-40/40 A06B-6079-H206A16B-2203-0592(A16B-2202-0772)

A20B-2001-0931

SVM2-40/80 A06B-6079-H207A16B-2203-0593(A16B-2202-0773)

SVM2-80/80 A06B-6079-H208A16B-2203-0594(A16B-2202-0774)

SVM2-40L/40L A06B-6079-H209A16B-2203-0595(A16B-2202-0775)

A20B-2001-0933


- 11 -

(3) Three-axis servo amplifier modules (interface: Type A)

ModelOrder




SVM3-12/12/12 A06B-6079-H301 A16B-2202-0780

SVM3-12/12/20 A06B-6079-H302 A16B-2202-0781

SVM3-12/20/20 A06B-6079-H303 A16B-2202-0782

SVM3-20/20/20 A06B-6079-H304 A16B-2202-0783

SVM3-12/12/40 A06B-6079-H305 A16B-2202-0784

SVM3-12/20/40 A06B-6079-H306 A16B-2202-0785

SVM3-20/20/40 A06B-6079-H307 A16B-2202-0786

A20B-2001-0940

(4) Three-axis servo amplifier modules (interface: Type B)

ModelOrder




SVM3-12/12/12 A06B-6080-H301 A16B-2202-0780

SVM3-12/12/20 A06B-6080-H302 A16B-2202-0781

SVM3-12/20/20 A06B-6080-H303 A16B-2202-0782

SVM3-20/20/20 A06B-6080-H304 A16B-2202-0783

SVM3-12/12/40 A06B-6080-H305 A16B-2202-0784

SVM3-12/20/40 A06B-6080-H306 A16B-2202-0785

SVM3-20/20/40 A06B-6080-H307 A16B-2202-0786

A20B-2001-0950

(5) Single-axis servo amplifier module (interface: FSSB)

ModelOrder




SVM1-2 A06B-6096-H121 A16B-2202-0742

SVM1-4 A06B-6096-H122 A16B-2202-0743

SVM1-12 A06B-6096-H101 A16B-2202-0740

SVM1-20 A06B-6096-H102 A16B-2202-0741

A20B-2100-0540(A20B-2100-0250)

When using HRV3, use the followingboards together:Wiring board: A16B-2202-074XPrinted circuit board:

A20B-2100-054X

SVM1-40S A06B-6096-H103A16B-2203-0450(A16B-2202-0760)

SVM1-40L A06B-6096-H104A16B-2203-0451(A16B-2202-0761)

SVM1-80 A06B-6096-H105A16B-2203-0452(A16B-2202-0762)

SVM1-130S A06B-6096-H116 A16B-2203-0453

A20B-2100-0540(A20B-2100-0250)

SVM1-130 A06B-6096-H106A16B-2203-0454(A16B-2202-0790)

A20B-2100-0542(A20B-2100-0252)


A20B-2100-054X

SVM1-240 A06B-6096-H107 A20B-1006-0485 A16B-2203-0300

SVM1-360 A06B-6096-H108 A20B-1006-0485 A16B-2203-0301


- 12 -

(6) Two-axis servo amplifier modules (interface: FSSB)

ModelOrder




SVM2-3/3 A06B-6096-H291 A16B-2202-0753

SVM2-12/12 A06B-6096-H201 A16B-2202-0750

SVM2-12/20 A06B-6096-H202 A16B-2202-0751

SVM2-20/20 A06B-6096-H203 A16B-2202-0752

A20B-2100-0541(A20B-2100-0251)


A20B-2100-054X

SVM2-12/40 A06B-6096-H204A16B-2203-0590(A16B-2202-0770)

SVM2-20/40 A06B-6096-H205A16B-2203-0591(A16B-2202-0771)

SVM2-40/40 A06B-6096-H206A16B-2203-0592(A16B-2202-0772)

A20B-2100-0541(A20B-2100-0251)

SVM2-40/80 A06B-6096-H207A16B-2203-0593(A16B-2202-0773)

SVM2-80/80 A06B-6096-H208A16B-2203-0594(A16B-2202-0774)

SVM2-40L/40L A06B-6096-H209A16B-2203-0595(A16B-2202-0775)

A20B-2100-0543(A20B-2100-0253)


A20B-2100-054X

(7) Three-axis servo amplifier modules (interface: FSSB)

ModelOrder




SVM3-12/12/12 A06B-6096-H301 A16B-2202-0780

SVM3-12/12/20 A06B-6096-H302 A16B-2202-0781

SVM3-12/20/20 A06B-6096-H303 A16B-2202-0782

SVM3-20/20/20 A06B-6096-H304 A16B-2202-0783

SVM3-12/12/40 A06B-6096-H305 A16B-2202-0784

SVM3-12/20/40 A06B-6096-H306 A16B-2202-0785

SVM3-20/20/40 A06B-6096-H307 A16B-2202-0786

A20B-2100-0260


- 13 -

2.2.2.2 400-V input series

(1) Single-axis servo amplifier modules (interface: Type A/B)

ModelOrder




SVM1-20HV A06B-6085-H102 A16B-2202-0800

SVM1-40HV A06B-6085-H103 A16B-2202-0801

SVM1-60HV A06B-6085-H104 A16B-2202-0802

A20B-2001-0932

(2) Two-axis servo amplifier modules (interface: Type A/B)

ModelOrder




SVM2-20/20HV A06B-6085-H201 A16B-2203-0210

SVM2-20/40HV A06B-6085-H202 A16B-2203-0211

SVM2-20/60HV A06B-6085-H203 A16B-2203-0212

SVM2-40/40HV A06B-6085-H204 A16B-2203-0213

SVM2-40/60HV A06B-6085-H205 A16B-2203-0214

SVM2-60/60HV A06B-6085-H206 A16B-2203-0215

A20B-2001-0933

(3) Single-axis servo amplifier modules (interface: FSSB)

ModelOrder




SVM1-20HV A06B-6097-H102 A16B-2202-0800

SVM1-40HV A06B-6097-H103 A16B-2202-0801

SVM1-60HV A06B-6097-H104 A16B-2202-0802Enclosed in parentheses is thedrawing number of the oldspecification.

SVM1-80HV A06B-6097-H105 A16B-2202-0803

A20B-2100-0542(A20B-2100-0252)

SVM1-320HV A06B-6097-H107 A20B-1007-0592 A16B-2203-0301

(4) Two-axis servo amplifier modules (interface: FSSB)

ModelOrder




SVM2-20/20HV A06B-6097-H201 A16B-2203-0210

SVM2-20/40HV A06B-6097-H202 A16B-2203-0211

SVM2-20/60HV A06B-6097-H203 A16B-2203-0212

SVM2-40/40HV A06B-6097-H204 A16B-2203-0213Enclosed in parentheses is thedrawing number of the oldspecification.

SVM2-40/60HV A06B-6097-H205 A16B-2203-0214

SVM2-60/60HV A06B-6097-H206 A16B-2203-0215

A20B-2100-0543(A20B-2100-0253)


- 14 -

2.2.3 Spindle Amplifier Modules

2.2.3.1 α series spindle amplifier modules

The order specification varies according to the detector (function)used.

(1) α series spindle amplifier modules (SPM) type 1 (standardspecification)

New specification (supporting spindle HRV control), CE-markedproducts



specificationROM (series)

SPM-2.2 A06B-6102-H202#H520 A06B-6102-H202 A16B-2202-0680 A16B-2203-0500SPM-5.5 A06B-6102-H206#H520 A06B-6102-H206 A16B-2202-0681SPM-11 A06B-6102-H211#H520 A06B-6102-H211 A16B-2202-0682

A16B-2203-0501

SPM-15 A06B-6102-H215#H520 A06B-6102-H215A20B-1006-0486A20B-2902-0390

SPM-22 A06B-6102-H222#H520 A06B-6102-H222A20B-1006-0487A20B-2902-0390

SPM-26 A06B-6102-H226#H520 A06B-6102-H226A20B-1006-0488A20B-2902-0390

SPM-30 A06B-6102-H230#H520 A06B-6102-H230A20B-1006-0489A20B-2902-0390

SPM-45 A06B-6102-H245#H520 A06B-6102-H245A20B-1007-0591A20B-2002-0080

SPM-55 A06B-6102-H255#H520 A06B-6102-H255A20B-1007-0590A20B-2002-0081

A16B-2203-0502

A06B-6102-H520(9D20)


- 15 -

CE-marked products

Model Order specification Unit specificationWiring board

specification(*1)


specification(*1)ROM (series)

SPM-2.2 A06B-6078-H202#H500 A06B-6078-H202 A16B-2202-0680A16B-2203-0330(A16B-2202-0430)

SPM-5.5 A06B-6078-H206#H500 A06B-6078-H206 A16B-2202-0681SPM-11 A06B-6078-H211#H500 A06B-6078-H211 A16B-2202-0682

A16B-2203-0331(A16B-2202-0431)

SPM-15 A06B-6088-H215#H500 A06B-6088-H215A20B-1006-0486(A20B-1006-0480)A20B-2902-0390





A16B-2203-0332(A16B-2202-0432)

A06B-6072-H500(9D00, 9D0A)

*1 Enclosed in parentheses are the drawing numbers of the oldspecifications.


- 16 -

Non-CE-marked products




SPM-2.2 A06B-6078-H202#H500 A06B-6078-H202 A16B-2202-0470A16B-2203-0330(A16B-2202-0430)


A16B-2203-0331(A16B-2202-0431)

SPM-15 A06B-6088-H215#H500 A06B-6088-H215A20B-1006-0170A20B-2902-0280

SPM-22 A06B-6088-H222#H500 A06B-6088-H222A20B-1006-0171A20B-2902-0280

SPM-26 A06B-6088-H226#H500 A06B-6088-H226A20B-1006-0172A20B-2902-0280

A16B-2203-0332(A16B-2202-0432)

A06B-6072-H500(9D00, 9D0A)

Non-CE-marked products (old specifications)




SPM-15 A06B-6078-H215#H500 A06B-6078-H215A20B-1005-0572A20B-2001-0010

SPM-22 A06B-6078-H222#H500 A06B-6078-H222A20B-1005-0571A20B-2001-0010

SPM-26 A06B-6078-H226#H500 A06B-6078-H226A20B-1005-0570A20B-2001-0010

SPM-30 A06B-6078-H230#H500 A06B-6078-H230A20B-1005-0575A20B-2001-0010

A16B-2202-0070A20B-2001-0150A20B-2901-0851

A06B-6072-H500(9D00, 9D0A)

Applicable detectors<1> M sensor (pulse generator), position coder, magnetic sensor<2> MZ sensor (sensor built into a motor)



- 17 -

(2) α series spindle amplifier modules (SPM), type 2 (Cs contourcontrol/BZ sensor (separate built-in sensor) specification)

CE-marked products


specification(*1)



SPM-2.2 A06B-6078-H302#H500 A06B-6078-H302 A16B-2202-0680A16B-2202-0433A20B-2901-0851


A16B-2202-0434A20B-2901-0851






A16B-2202-0435A20B-2901-0851

A06B-6072-H500(9D00, 9D0A)







A16B-2202-0434A20B-2901-0851

SPM-15 A06B-6088-H315#H500 A06B-6088-H315A20B-1006-0170A20B-2902-0280

SPM-22 A06B-6088-H322#H500 A06B-6088-H322A20B-1006-0171A20B-2902-0280

SPM-26 A06B-6088-H326#H500 A06B-6088-H326A20B-1006-0172A20B-2902-0280

A16B-2202-0435A20B-2901-0851

A06B-6072-H500(9D00, 9D0A)



- 18 -

Non-CE-marked products (old specification)




SPM-15 A06B-6078-H315#H500 A06B-6078-H315A20B-1005-0572A20B-2001-0010

SPM-22 A06B-6078-H322#H500 A06B-6078-H322A20B-1005-0571A20B-2001-0010

SPM-26 A06B-6078-H326#H500 A06B-6078-H326A20B-1005-0570A20B-2001-0010

SPM-30 A06B-6078-H230#H500 A06B-6078-H330A20B-1005-0575A20B-2001-0010

A16B-2202-0160A20B-2001-0140A20B-2901-0851

A06B-6072-H500(9D00, 9D0A)

Applicable detectors<1> M sensor (pulse generator) + BZ sensor (separate built-in

sensor) (use of position coder signals only)<2> High-resolution magnetic pulse coder (for motor only)<3> High-resolution magnetic pulse coder (for motor and

spindle)<4> High-resolution position coder + high-resolution magnetic

pulse coder (for motor only)


- 19 -

(3) α series spindle amplifier modules (SPM), type 3 (spindleswitching control/differential speed control specification)

CE-marked products


specification(*1)



SPM-11 A06B-6088-H411#H500 A06B-6088-H411A20B-1006-0484A20B-2902-0390






A16B-2202-0440A20B-2001-0700A20B-2901-0851

A06B-6072-H500(9D00, 9D0A)





SPM-11 A06B-6078-H411#H500 A06B-6078-H411A20B-1005-0574A20B-2001-0010

SPM-15 A06B-6078-H415#H500 A06B-6078-H415A20B-1005-0572A20B-2001-0010

SPM-22 A06B-6078-H422#H500 A06B-6078-H422A20B-1005-0571A20B-2001-0010

SPM-26 A06B-6078-H426#H500 A06B-6078-H426A20B-1005-0570A20B-2001-0010

SPM-30 A06B-6078-H430#H500 A06B-6078-H430A20B-1005-0575A20B-2001-0010

A16B-2202-0160A20B-2001-0140A20B-2901-0851

A06B-6072-H500(9D00, 9D0A)

Applicable functions<1> Spindle switching control (switching of speed only or

switching of speed and position)<2> Spindle switching control (switching of MZ sensor (built-in

sensor))<3> Differential speed control (position coder signal input

circuit)



- 20 -

(4) α series spindle amplifier modules (SPM), type 4 (α sensor Cscontour control)

New specification (supporting spindle HRV control), CE-markedproducts






A16B-2203-0504A20B-2902-0620

SPM-15 A06B-6102-H115#H520 A06B-6102-H115A20B-1006-0486A20B-2902-0390

SPM-22 A06B-6102-H122#H520 A06B-6102-H122A20B-1006-0487A20B-2902-0390

SPM-26 A06B-6102-H126#H520 A06B-6102-H126A20B-1006-0488A20B-2902-0390

SPM-30 A06B-6102-H130#H520 A06B-6102-H130A20B-1006-0489A20B-2902-0390

SPM-45 A06B-6102-H145#H520 A06B-6102-H145A20B-1007-0591A20B-2002-0080

SPM-55 A06B-6102-H155#H520 A06B-6102-H155A20B-1007-0590A20B-2002-0081

A16B-2203-0505A20B-2902-0620

A06B-6102-H520(9D20)


- 21 -

CE-marked products


specification(*1)



SPM-2.2 A06B-6078-H102#H500 A06B-6078-H102 A16B-2202-0680

A16B-2202-0433Overall revision 16Eor laterA20B-2902-0620(A20B-2902-0610)

SPM-5.5 A06B-6078-H106#H500 A06B-6078-H106 A16B-2202-0681

SPM-11 A06B-6078-H111#H500 A06B-6078-H111 A16B-2202-0682

A16B-2202-0434Overall revision 16Eor laterA20B-2902-0620(A20B-2902-0610)






A16B-2202-0435Overall revision 13Cor laterA20B-2902-0620(A20B-2902-0610)

A06B-6072-H500(9D00, 9D0A)

Applicable detectors<1> MZ sensor (sensor built into a motor)<2> MZ sensor (sensor built into a motor) + BZ sensor (separate

built-in sensor)



- 22 -

2.2.4 Power-Failure Backup Modules

(1) Power-failure backup modules

Order specificationWiring boardspecification


Remarks

A06B-6077-H001 A16B-2203-0360 A20B-2002-0790 Without the control power supply backup function

A06B-6077-H002 A16B-2203-0510 A20B-2003-0020 With the control power supply backup function

(2) Sub-module C (auxiliary capacitor unit)

Order specification Unit specification Capacitor specification

A06B-6077-H010 A06B-6077-C010 A42L-0001-0375 (× 2)

B-65165E/02 START-UP PROCEDURE 3. START-UP PROCEDURE

- 23 -

3 START-UP PROCEDURE

3. START-UP PROCEDURE START-UP PROCEDURE B-65165E/02

- 24 -

3.1 START-UP PROCEDURE (OVERVIEW)

Make sure that the specifications of the CNC, servo motors, servoamplifiers, and other units you received are exactly what you ordered,and these units are connected correctly. Then, turn on the power.

(1) Before turning on the circuit breaker, check the power supplyvoltage connected.→ See Section 3.2.

(2) Some types of PSM, SVM, and SPM require settings before thesystem can be used. So check whether you must make settings.→ See Section 3.3.

(3) Turn on the power, and set initial parameters on the CNC.

For the initialization of servo parameters, refer to the followingmanual:FANUC AC SERVO MOTOR α series Parameter Manual(B-65150E)

For the initialization of spindle parameters, refer to the followingmanual:FANUC AD SPINDLE MOTOR α series Parameter Manual(B-65160E)

(4) For start-up adjustment and troubleshooting, see Chapter 4.• Method of using optional wiring boards for adjustment of the

PSM, SVM, and SPM• Spindle sensor adjustment values


- 25 -

3.2 CONNECTING THE POWER

3.2.1 Checking The Voltage And Capacity Of The Power

Before connecting the power, you should measure the AC powervoltage.

Table 3.2.1(1) Action for the AC power (200-V input type)

AC powervoltage

Nominalvoltage

Action

170 to 220 V210 to 253 V

200 V230 V

These power lines can be connected directly tothe system.Note) If the voltage is below the rated value, the

rated output may not be obtained.254 V ormore

380 to 550 V This power line must be connected through aninsulation transformer to step down the voltageto 200 V.

Table 3.2.1(2) Action for the AC power (400-V input type)

AC powervoltage

Nominalvoltage

Action

340 to 440 V391 to 506 V

400 V460 V

These power lines can be connected directly tothe system.Note) If the voltage is below the rated value, the

rated output may not be obtained.507 V ormore

480 to 550 V This power line must be connected through aninsulation transformer to step down the voltageto 400 V.

Table 3.2.1 (3) to (5) list the input power specification for the powersupply module. Use a power source with sufficient capacity so that thesystem will not malfunction due to a voltage drop even at a time of peakload. Make sure that the AC power voltage value including voltagefluctuation at a time of peak load is within the range specified in theabove table.

Table 3.2.1 (3) AC power voltage specifications

ModelPSMR

-3PSMR

-5.5PSM-5.5

PSM-11

PSM-15

PSM-26

PSM-30

PSM-37

PSM-45

PSM-55

Nominal voltage rating 200/220/230 VAC -15%, +10%Power source frequency 50/60 Hz ±1 Hz

Power source capacity (forthe main circuit) [kVA]

5 12 9 17 22 37 44 53 64 79

Power source capacity (forthe control circuit) [kVA]

0.5 0.7


- 26 -

Table 3.2.1 (4) AC power voltage specifications (for the main circuit)

Model PSMV-11HV PSM-18HV PSM-30HV PSM-45HV PSM-75HVNominal voltage rating 400/460 VAC -15%, +10%

Power source frequency 50/60 Hz ±1 HzPower source capacity

[kVA]31 26 44 64 107

Table 3.2.1 (5) AC power voltage specifications (for the control circuit)

Model PSMV-11HV PSM-18HV PSM-30HV PSM-45HV PSM-75HVNominal voltage rating 200/220/230 VAC -15%, +10%

Power source frequency 50/60 Hz ±1 HzPower source capacity

[kVA]0.7

3.2.2 Connecting A Protective Ground

Refer to the items in Chapter 5, "Installation," in "FANUC SERVOAMPLIFIER α series Descriptions" B-65162E, and check that theprotective ground line is connected correctly.

3.2.3 Selecting The Ground Fault Interrupter That Matches TheLeakage Current

Refer to the items in Chapter 5, "Installation," in "FANUC SERVOAMPLIFIER α series Descriptions" B-65162E, and check that acorrect ground fault interrupter is selected.


- 27 -

3.3 SETTING THE PRINTED-CIRCUIT BOARD

Before supplying power, set the printed-circuit board as listed below.

3.3.1 Power Supply Module

Checking the DIP switch setting(1) CE-marked products

Model DIP switch Position DescriptionS1 SHORTPSM-5.5 to 11S2 OPEN(*1)S1 SHORTPSM-15 to 55S2 OPENS1 SHORTPSM-18HV to

75HV S2 OPEN

Do not change the setting of theDIP switches because they werealready set at the factory.

*1 This setting has been made in shipments after January, 2000. Inearlier products, this switch was factory-set to SHORT.

(2) Non-CE-marked products

Model DIP switch Position DescriptionS1 SHORTPSM-5.5 to 11S2 OPENS1 SHORTPSM-15 to 30S2 OPEN

Do not change the setting of theDIP switches because they werealready set at the factory.


- 28 -

3.3.2 Servo Amplifier Module

(1) Checking the jumper plug setting (for SVM1 and SVM2)Set the servo amplifier module to either interface type A or B withthe jumper plugs.

Move the jumper plugs as required. Ifyou cannot pull out a jumper plug withyour thumb and finger, use long-nosepliers or the like.

FANUC

S1

S2

FUSE

Jumper plugS1 S2

Description

SHORT OPEN With this setting, the servo amplifier module can operatewith the CNC (such as FS0, FS15, FS16, FS18, or PM-D) designed for operation with interface type A. In thiscase the JV*B connector is used.

OPEN SHORT With this setting, the servo amplifier module can operatewith the CNC (such as FS20 or FS21-G) designed foroperation with interface type B. In this case the JS*Band JF* connectors are used.

NOTEThere is no jumper plug or DIP switch on the three-axis servo amplifier module. The specification of theservo amplifier module determines the type (A or B)of the interface with which it can operate.

(2) Mounting the batteries for the ABS pulse coder

See Sec. I.5.1.


- 29 -

3.3.3 Spindle Amplifier Module

3.3.3.1 α series spindle amplifier module (SPM)

This type of modules do not have a DIP switch except the modules ofwhich specification drawing numbers are A06B-6072-H***#00xx (Dseries spindle amplifier modules) and A06B-6078-H***#H5xx (non-CE-marked α series spindle amplifier modules).

Location of the DIP switch

DIP switchS7

SW

S1

F2 5A

DIPswitch

Switch setting(factory-set to the

underlined position)Description

ONS1OFF

If two SPMs are connected to one serial interfacecable, S1 is set to ON in one SPM, and to OFF inthe other.

ONS2OFF

If an analog filter is used at the load meter output,S2 is set to ON. If not, it is set to OFF.

ONS3OFF

If an analog filter is used at the speedometeroutput, S3 is set to ON. If not, it is set to OFF.

S4:ON, S5:OFF Reference switch ofNPN type (pull up)

S4:OFF, S5:OFF Reference switch ofPNP type (pull down)

S4S5

S4:OFF, S5:OFF The external referencesignal receive function.

Reference switch(external reference signalreceive function) settingfor the main spindle

S6:ON, S7:OFF Reference switch ofNPN type (pull up)

S6:OFF, S7:OFF Reference switch ofPNP type (pull down)

S6S7

S6:OFF, S7:OFF The external referencesignal receive functionis not used.

Reference switch(external reference signalreceive function) settingfor the sub-spindle


- 30 -

3.3.3.2 α (HV) series spindle amplifier module (SPM-HV)

This module does not have a DIP switch.

3.3.3.3 αC series spindle amplifier module (SPMC)

This module does not have a DIP switch.


- 31 -

3.4 INITIALIZING SERVO PARAMETERS

(1) Servo amplifier moduleFor the initialization of servo parameters, refer to the followingmanual:FANUC AC SERVO MOTOR α series Parameter Manual(B-65150E)

(2) Spindle amplifier moduleFor the initialization of spindle parameters, refer to the followingmanual:FANUC AC SPINDLE MOTOR α series Parameter Manual(B-65160E)

4. CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65165E/02

- 32 -

4 CONFIRMATION OF THE OPERATION

4. CONFIRMATION OFB-65165E/02 START-UP PROCEDURE THE OPERATION

- 33 -

4.1 POWER SUPPLY MODULE

Check each item according to the procedure described below.

5. Check the operation of the servo and spindle motors.

See Subsec. 4.1.5.

OK NG

4. Make sure that the MCC is turned on.

3. Release the system from emergency stop state.

OK Alarm occurs.

See Section 3.1 of Part II.

2. Check the STATUS LEDs. See Section 4.1.3.

1. Supply control power (200 VAC) to the power supply module.


- 34 -

4.1.1 Check Terminal On The Printed-circuit Board

4.1.1.1 PSM, PSM-HV

Location of the check terminal

IRIS+24V+5V0V

Table 4.1.1.1 Check terminal

Checkterminal

Description

The current is positive when it is input to theamplifier.

IR Phase L1 (phase R)current

Model Amount of currentPSM-5.5 37.5A/1VPSM-11 37.5A/1VPSM-15 50A/1VPSM-26 75A/1VPSM-30 100A/1VPSM-37 100A/1VPSM-45 150A/1VPSM-55 150A/1VPSM-18HV 37.5A/1VPSM-30HV 50A/1VPSM-45HV 75A/1VPSM-75HV 100A/1V

IS Phase L2 (phase S)

current

+24V+5V0V

Control power


- 35 -

4.1.1.2 PSMV-HV

Location of check terminals

IDCVDC+24V+5V0V

Table 4.1.1.2 Check terminals

Checkterminal

Description

Model Amount of current

PSMV-11HV 50 A/1 V

IDC DC link current

Model Amount of voltagePSMV-11HV 100 V/1 V

VDC DC link voltage

+24V+5V0V

Control power

4.1.2 Checking The Power Supply Voltages

Table 4.1.2 Checking the power supply voltages

Measurement item Check methodAC power line

voltageCheck on L1, L2, and L3 at terminal board TB2.See Section 3.2.1.Check on the check terminals.

Check terminal Rating+24V - 0V 24 V ±5%

+5V - 0V 5 V ±5%

Control powervoltage


- 36 -

4.1.3 Checking The Status Leds

4.1.3.1 PSM, PSM-HV, and PSMV-HV

Position of the STATUS LEDs

STATUS

PIL

ALM

STATUS LEDs

No.

The LED that is on isindicated in black.

Description

1 The PIL LED (power ON indicator) is off.Control power has not been supplied.The control power circuit is defective. SeeSection 4.1.2.

2 PSM not readyThe main circuit is not supplied with power(MCC OFF).Emergency stop state

3 PSM readyThe main circuit is supplied with power(MCC ON).The PSM is operable.

4

Alarm code 01 or above isindicated.

Alarm stateThe PSM is not operable.See Section 3.1 of Part II.

On

Off

PIL

ALM

PIL

ALM

PIL

ALM

PIL

ALM


- 37 -

4.1.3.2 PSMR

Position of the STATUS LEDs

STATUS

No. STATUS LEDs Description1 The STATUS display LED is off.

Control power has not been supplied.The control power circuit is defective. SeeSection 4.1.2.

2 PSMR not readyThe main circuit is not supplied with power(MCC OFF).Emergency stop state

3 PSMR readyThe main circuit is supplied with power(MCC ON).The PSMR is operable.

4

Alarm code 02 or above isindicated.

Alarm stateThe PSMR is not operable.See Section 3.1.3 of Part II.


- 38 -

4.1.4 The PIL LED (power ON indicator) Is Off.

Table 4.1.4 Check method and action

No. Cause of trouble Check method Action1 AC power for the

control circuit notsupplied

Check that power isconnected to connectorCX1A.

2 Blown fuse in thecontrol circuit

Check whether F1 or F2has blown. (PSM, PSM-HV)Check whether FU1 or FU2has blown. (PSMV-HV)For details on how toreplace fuses, see Chapter4 of Part II.

(1) If the AC power inputfor control isconnected toconnector CX1B bymistake, F2 (FU2) mayblow. Connect the ACpower input to CX1A.

(2) Replace the fuse. Ifthe fuse blows againafter the replacement,replace the printedcircuit board.

3 Incorrect wiring Check whether the 24-Vpower output is short-circuited and whether aload exceeding the rating isconnected.

4 Faulty powersupply circuit onthe printed circuitboard

The power-on LED indicatorPIL operates on the +5-Vpower supply. SeeSubsection 4.1.2 to checkthe control power voltage.

(1) Replace the PSM.(2) Replace the printed

circuit board, driverboard, or powerdistribution board.


- 39 -

4.1.5 Checking For What Keeps The Mcc From Being Switched On

(1) The system is still in an emergency stop status.→ Check the connection to make sure that the emergency stop

signal connected to the PSM connector CX4 and theemergency stop signal (such as *ESP) input to the CNC areboth released.

(2) There is a connector problem.(a) No terminating connector is attached.

→ Check whether a terminating connector is attached toJX1B of the SVM or SPM at the end of the connectionchain.

(b) The interface cable between JX1B of the power supplymodule and JX1A of the SVM or SPM is defective.→ Check whether the interface cable is faulty.

(3) The power for driving the magnetic contactor is not supplied.→ Check the voltage across the both ends of the coil of the

magnetic contactor.

(4) The relay for driving the magnetic contactor is defective.→ Check that a circuit between pins <1> and <3> of connector

CX3 is closed and opened.

PSM, PSMRPSM-HVPSMV-HV

MCC driving relay

CX3-<1>

CX3-<3>

Make sure that the contact

is closed and opened.


- 40 -

4.2 SERVO AMPLIFIER MODULE


Alarm occurs.


2. Check the STATUS LEDs. See Section 4.2.2.

1. Check the connection, and supply control power (200 VAC) to the powersupply module.

3. Check the CNC parameters (including servo parameters), and resetemergency stop state.

Alarm occurs.


4. Check the operation of the servo motor.

Abnormal operation

Refer to the FANUC AC SERVO MOTOR

α series Parameter Manual (B-65150E).


- 41 -

4.2.1 Check Pin Board

Use of the check pin board allows you to observe the signals inside theservo amplifier.

(1) Specifications

Order specification Component RemarksPrinted circuit board: A20B-1005-0340 Printed circuit board with check pinsA06B-6071-K290Cable : A660-2042-T031#L200R0 20-conductor cable with a one-to-one

correspondence. Length: 200 mm

Printed circuit board: A20B-1005-0340

A20B-1005-0340• <5> • <4> • <3> • <2> • <1>

• <10> • <9> • <8> • <7> • <6>

• <15> • <14> • <13> • <12> • <11>

• <20> • <19> • <18> • <17> • <16>

100 mm

34 mm

CN1 CN2

Cable: A660-2042-T031#L200R0

Approx. 200 mm

CN1 and CN2 are wired with a one-to-one correspondence.The connector pin numbers correspond to the check pin numbers.

(2) ConnectionAttach the cable to connector JX5 that is located on the front ofthe SVM.

SVM

JX5

A20B-1005-0340

CN1CN2


- 42 -

(3) Signal output

SVM designed for operation with the FSSB interface

Signal namePin No.

SVM1 SVM2 SVM3Remarks

<1> CLR CLR CLR Clear signal of the control circuit(Note)<2> +3.3V +3.3V +3.3V +3.3-V power (Variations in voltage level

within ±5% are regarded as normal.)<3> IRL IRL IRL Phase R motor current for the L axis<4> ISL ISL ISL Phase S motor current for the L axis<5> IRM IRM Phase R motor current for the M axis<6> ISM ISM Phase S motor current for the M axis

0V 0V Reference voltage<7>IRN Phase R motor current for the N axis

0V 0V Reference voltage<8>ISN Phase S motor current for the N axis

<9> 0V 0V 0V Reference voltage<10><11> +24V +24V +24V +24-V power<12> +15V +15V +15V +15-V power<13> -15V -15V -15V -15-V power<14> +5V +5V +5V +5-V power<15> ITL ITL ITL Phase T motor current for the L axis<16><17> ITM ITM Phase T motor current for the M axis<18>

0V 0V Reference voltage<19>ITN Phase T motor current for the N axis

<20>

NOTEDo not touch the clear signal of the control circuit;otherwise, the servo amplifier may malfunction.


- 43 -

SVM designed for operation with the type A/B interface

Signal namePin No.

SVM1 SVM2 SVM3Remarks

<1> CLR CLR CLR Clear signal of the control circuit(Note 1)<2> 0V 0V 0V Reference voltage<3> IRL IRL IRL Phase R motor current for the L axis<4> ISL ISL ISL Phase S motor current for the L axis<5> IRM IRM Phase R motor current for the M axis<6> ISM ISM Phase S motor current for the M axis

0V 0V Reference voltage<7>IRN Phase R motor current for the N axis

0V 0V Reference voltage<8>ISN Phase S motor current for the N axis

<9> 0V 0V 0V Reference voltage<10> 0V 0V 0V Reference voltage<11> +24V +24V +24V +24-V power<12> +15V +15V +15V +15-V power<13> -15V -15V -15V -15-V power<14> +5V +5V +5V +5-V power<15> ITL ITL ITL Phase T motor current for the L axis<16><17> ITM ITM Phase T motor current for the M axis<18>

0V 0V Reference voltage<19>ITN Phase T motor current for the N axis

<20>

NOTE1 Do not touch the clear signal of the control circuit;

otherwise, the servo amplifier may malfunction.2 Part of the signal may not be output depending on

the revision of the printed circuit board.


- 44 -

(4) Observing the motor currentYou can observe an instantaneous motor current value byobserving the voltage across a reference voltage (0 V) check pinand a motor current check pin with an oscilloscope. Note that youcannot use a device such as a multimeter to observe correctvalues.

(Instantaneous motor current value) = (voltage at motor currentcheck pin) × (factor for calculating motor current)

Calculation example:When the voltage at a motor current check pin is 3.2 V, andthe factor for calculation is 3 A/V:Actual motor current (A) = 3.2 V × 3 A/V = 9.6 A

Limit of instantaneous motorcurrent value [A](Note 1)

Factor for calculating motorcurrent [A/V](Note 2)

2 0.54 1

12 320 540 1060 1580 20

130 32.5240 60320 80360 90

NOTE1 Limit of instantaneous motor current value

Values in in servo amplifier names indicate thelimits of instantaneous motor current values.

Single-axis amplifier: SVM1-

M axis

L axis

N axis

M axis

L axis

Double-axis amplifier: SVM2-

Triple-axis amplifier: SVM3-

2 The factor for calculating the motor current of anSVM not listed in the above table can be obtainedfrom the model name of the servo amplifier asfollows:Factor for calculating the motor current = (limit ofinstantaneous motor current value) ÷ 4 V


- 45 -

(4) Checking the power supply voltageYou can measure the voltage across a reference voltage (0V)check pin and a power check pin with a multimeter, oscilloscope,or the like to observe the power supply voltage for the controlcircuit inside the servo amplifier. If the measured voltage iswithin ±5% relative to the nominal voltage, the measured voltagecan be considered to be acceptable.

Check pin Nominal voltage+3.3V +3.3-V power+24V +24-V power+15V +15-V power-15V -15-V power+5V +5-V power


- 46 -

4.2.2 Checking The STATUS Display

The STATUS display (a 7-segment LED) on the front of the SVMindicates the operation status.

STATUS

STATUS display Description• The STATUS display LED is not on.

<1> Power is not turned on.<2> Poor cable connection

Check the cable.<3> The servo amplifier is defective.

Replace the fuse (F1) or servo amplifier.• The control power supply is waiting for a ready signal.

• The servo amplifier is ready to operate.The servo motor is supplied with power.

• Alarm stateIf an alarm is issued in the servo amplifier, a value otherthan "0" and "-" is indicated on the STATUS displayLED. See Section 3.2 of Part II.


- 47 -

4.2.3 VRDY-OFF Alarm Indicated on the CNC Screen

When the VRDY-OFF alarm is indicated on the CNC, check the itemslisted below. In addition to these causes, there are other possiblecauses of VRDY-OFF. If the problem still exists after the followingitems are checked, contact your FANUC service representative.

(1) Interface between modules(a) Is a terminating dummy connector for the interface between

modules (JX1A, JX1B) attached to JX1B of the module (anSVM or SPM) at the end of the connection chain?

(2) Emergency stop signal (ESP)(a) Has the emergency stop signal (connector: CX4) applied to

the PSM been released? Alternatively, is the signalconnected correctly?

(b) Is the emergency stop signal line (pin 3 of connectors CX2Aand CX2B) between the PSM and SVM or SPM connectedcorrectly?

(3) MCON signal(a) Has the ready command signal MCON been sent from the

CNC to SVM?• Check for poor contact in the command cable between the

CNC and SVM.• Use the servo check pin board to check the signal level.

(b) For the multi-axis amplifier, is the MCON signal sent to allaxes?

(4) External MCC(a) Is the external MCC connected correctly and is there any

problem in the external MCC itself?

(5) Timing of turning on the power to the CNC (200 VAC, singlephase) and the PSM control power (200 VAC, single phase)(a) Was the power to the CNC turned on at the same time when,

or after, the power for PSM control was turned on?

(6) Is there an unused axis in a multi-axis amplifier?(a) Is a dummy connector inserted in the amplifier?(b) Are CNC parameters set correctly?


- 48 -

4.2.4 Servo Check Board

The servo check board receives the digital value used for control insidethe digital servo as numerical data and converts it to an analog form.

For details on how to connect and use the servo check board, refer tothe following:FANUC AC SERVO MOTOR α series Parameter Manual B-65150E/04 or later editions


- 49 -

4.3 SPINDLE AMPLIFIER MODULE


9. Check the operation in normal operation mode (S command).

8. Make sure that the magnetic contactor for PSM input is turned on.See Section 4.1.

7. Release the system from the emergency stop state.

6. Check the waveform on the detector. See Subsection 4.3.4.

5. Set and check spindle-related parameters. (The parameter manualis required.)

No Yes

4. Prepare and check a PMC ladder. (The descriptions manual isrequired.)

3. Has the system been used with this connection status?

OK Alarm issued.


2. Check the STATUS display. See Subsection 4.3.1.

1. Supply control power (200 VAC) to the PSM, and turn on the powerto the CNC.


- 50 -

4.3.1 STATUS Display

PIL

ALM

ERR

STATUS

No. ALM ERR STATUS Description1. No

indicationThe PIL LED (power ON indicator) is off.

The control power supply has not beenswitched on.The power supply circuit is defective. SeeSection 3.1.2.

2. 20

↓

For about 1.0 s after the control powersupply is switched on, the lower two digits ofthe ROM series No. are indicated.

Example) 20: ROM series No. 9D203. 04 The ROM edition number is displayed for

about 1.0 s. 01, 02, 03, and so oncorrespond to A, B, C, and so on,respectively.

Example) 04: ROM edition D4. --

BlinkingThe CNC has not been switched on.

The machine is waiting for serialcommunication and parameter loading toend.

5. --Lighting

Parameter loading has ended.The motor is not supplied with power.

6. 00 The motor is supplied with power.7. Lighting 01 or

above isdisplayed.

Alarm stateThe SPM is not operable.See Section 3.4 of Part II.

8. Lighting 01 orabove is

displayed.

Error stateIncorrect parameter setting or impropersequence.See Section 4.3.3 of Part II.

The PIL lamp is always on while the control power is being supplied.


- 51 -

4.3.2 Troubleshooting at Startup

4.3.2.1 The PIL LED (power-on indicator) is off.

(1) When the PIL LED on the spindle amplifier module does notcome on after the main circuit breaker is turned on

No. Cause of trouble Check method Action1 The 200-V control power is not

supplied.The PSM PIL lamp is off. Check the cable attached to

CX1A of PSM.2 The cable attached to

connector CX2A/B isdefective.

The PSM PIL lamp is on. Check the cabling.

3 The power is externallyconnected to 0 V, GND, or thelike.

When all connectors exceptconnector CX2A/B aredetached, the PIL lamp is on.

Replace or repair the cable.

4 There is a blown fuse on theprinted circuit board.(A06B-6102-Hxxx, 6104-Hxxx)

If the fuse blows, the printedcircuit board may be faulty.Replace the SPM.

5 The printed circuit board isdefective.

Even when all cables exceptthe cable attached toconnector CX2A/B aredetached, the PIL lamp doesnot come on.

Replace the SPM.

4.3.2.2 The STATUS display is blinking with "--."

(1) When no spindle communication alarm message is indicated onthe CNCCheck whether the CNC software option setting or bit setting iscorrect.

(2) When a communication alarm message is indicated on the CNC

No. Cause of trouble Check method Action1 The SPM switch setting is

incorrect.For A06B-6072-Hxxx, A06B-6078-H215 to H230, andA06B-6078-H315 to H330 only

When a second SPM isconnected, switch S1 is set toON.When no other SPM isconnected, switch S1 is set toOFF.

Correct the switch setting.

2 The cable is incorrect. Note that the cable used forconnecting an electric/opticaladapter and the cableconnected directly to the CNCdiffer in specifications.

Replace the cable with acorrect cable.

3 The cable is defective. Check whether the cable isbroken.Check for short-circuit in theconnector.

Repair or replace the cable.

4 The printed circuit board isdefective.

Replace the SPM.


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4.3.2.3 The motor does not turn.

(1) When "--" is indicated on the STATUS display of the SPMCheck whether spindle control signals are input. (An example forthe first spindle is given below.)

FS0 FS15 FS16 #7 #6 #5 #4 #3 #2 #1 #0G229 G227 G070 MRDYA SFRA SRVAG230 G226 G071 *ESPA

(2) When "00" is indicated on the STATUS display of the SPMNo spindle speed command is input.

Refer to "FANUC AC SPINDLE MOTOR α seriesParameter Manual," and check related parameters.

(3) When an alarm number is indicated on the SPMSee the description of the alarm number in Section 3.4 of Part II.

4.3.2.4 A specified speed cannot be obtained.

(1) When the speed always differs from a specified speedCheck parameters.

Refer to "FANUC AC SPINDLE MOTOR α seriesParameter Manual," and check related parameters.

(2) When an alarm number is indicated on the SPMSee the description of the alarm number in Section 3.4 of Part II.


- 53 -

4.3.2.5 When cutting is not performed, the spindle vibrates, makingnoise.

(1) The spindle vibrates only when the spindle speed has reached or isat a particular speed level.

Check whether the spindle also vibrates when the motor is turningby inertia. If noise is unchanged, investigate the source ofmechanical vibration. There are several methods to turn thespindle by inertia as explained below. Because these methodsinvolve machine sequences, consult with the machine toolbuilder.

A. Setting spindle control signal MPOF (FS16 for the firstspindle: G73#2, FS15 for the first spindle: G228#2) to 1immediately causes the spindle to turn by inertia.

B. Set ALSP (FS16: bit 2 of parameter No. 4009, FS15 for thefirst spindle: bit 2 of parameter No. 3009) to 1. Then, whenthe power to the CNC is turned off during spindle rotation,the spindle turns by inertia. (On the spindle amplifiermodule, alarm 24 is indicated.)

(2) When noise is generated at the time the motor is stopped or at anytime

A. See Subsection 4.3.4 of this part, and check and adjust thewaveform of the spindle sensor.

B. Check that the motor part number matches its parameters.For details, refer to "FANUC AC SPINDLE MOTOR αseries Parameter Manual."

C. Adjust the velocity loop gain and so forth.For details, refer to "FANUC AC SPINDLE MOTOR αseries Parameter Manual."

4.3.2.6 An overshoot or hunting occurs.

Refer to "FANUC AC SPINDLE MOTOR α series ParameterManual," and adjust parameters.


- 54 -

4.3.2.7 Cutting power weakens or acceleration/deceleration slowsdown.

(1) When the load meter does not indicate the maximum output

A. A mechanical element such as a belt slip may occur.

(2) When the load meter indicates the maximum output

A. Check whether the torque limit signal is input incorrectly.(An example for the first spindle is given below.)

FS0 FS15 FS16 #7 #6 #5 #4 #3 #2 #1 #0G229 G227 G070 TLMHA TLMLA

B. Check that the motor part number matches its parameters.For details, refer to "FANUC AC SPINDLE MOTOR αseries Parameter Manual."

C. Check whether the output limit pattern is set incorrectly.For details, refer to "FANUC AC SPINDLE MOTOR αseries Parameter Manual."


- 55 -

4.3.3 Status Error Indication Function

When there is a sequence or parameter error, the error LED (yellow) inthe display section of the spindle amplifier module (SPM) goes on withan error code displayed. This can ease troubleshooting at the time ofmachine startup.

The error LED(yellow) lights.

An error code is indicated. (from 01)

status

When the spindle amplifier module does not operate for a certainfunction, check whether the status error is indicated. The status errornumber does not appear on the CNC screen.

No. Description Action01 Although neither *ESP (emergency

stop signal) (there are two types ofsignals, a PMC signal and PSM contactsignal) nor MRDY (machine readysignal) has been input, SFR (forwardrotation signal), SRV (reverse rotationsignal), or ORCM (orientationcommand) is input.

Check the *ESP and MRDYsequences. (For MRDY, payattention to the parameter thatspecifies whether to use theMRDY signal (FS16i: bit 0 ofparameter No. 4001).)

02 When the spindle motor is equippedwith a high-resolution magnetic pulsecoder (Cs sensor) (FS16i: bits 6 and 5of parameter No.4001 = 0, 1), 128 λ/revmust be set for the speed detector(FS16i: bits 2, 1, and 0 of parameterNo. 4011 = 0, 0, 1). However, otherthan 128 λ/rev is set. In this case, themotor is not activated.

Check the speed detectorparameter of the spindle motor(FS16i: bits 2, 1, and 0 ofparameter No. 4011).

03 Although the use of a high-resolutionmagnetic pulse coder (FS16i: bit 5 ofparameter No. 4001 = 1) or the use ofthe Cs contour control function by the αsensor (FS16i: bit 4 of parameter No.4018 = 1) is not specified, a Cs controlcommand is input. In this case, themotor is not activated.

Check the parameters of thedetector for Cs contour control(FS16i: bit 5 of parameter No.4001 and bit 4 of parameter No.4018).

04 Although the parameter for using theposition coder signal (FS16i: bit 2 ofparameter No. 4001 = 1) is not set, acommand for servo mode (rigid tappingor spindle positioning) or spindlesynchronization is input. In this case,the motor is not activated.

Check the parameter of theposition coder signal (FS16i: bit 2of parameter No. 4001).

05 Although no orientation option is set, anorientation command (ORCM) is input.

Check the software option fororientation.

(Continued)


- 56 -

No. Description Action06 Although no output switching option is

set, low-speed winding is selected(RCH = 1).

Check the software option forspindle output switching and thepower line status signal (RCH).

07 Although Cs contour control mode isspecified, neither SFR nor SRV is input.

Check the sequence (CON, SFR,and SRV).

08 Although servo mode (rigid tapping orspindle positioning) is specified, neitherSFR nor SRV is input.

Check the sequence (SFR andSRV).

09 Although spindle synchronization modeis specified, neither SFR nor SRV isinput.

Check the sequence (SPSYC,SFR, and SRV).

10 In Cs contour control mode, anotheroperation mode (servo mode, spindlesynchronization, or orientation) isspecified.

Do not specify another operationmode during execution of the Cscontour control command. Beforeentering another mode, cancel theCs contour control command.

11 In servo mode (rigid tapping or spindlepositioning), another operation mode(Cs contour control, spindlesynchronization, or orientation) isspecified.

Do not specify another operationmode during execution of theservo mode command. Beforeentering another mode, cancelservo mode.

12 During spindle synchronization,another operation mode (Cs contourcontrol, servo mode, or orientation) isspecified.

Do not specify another operationmode during execution of thespindle synchronizationcommand. Before enteringanother mode, cancel the spindlesynchronization command.

13 When an orientation specification isspecified, another operation mode (Cscontour control, servo mode, orsynchronization control) is specified.

Do not specify another operationmode during execution of theorientation command. Beforeentering another mode, cancel theorientation command.

14 The SFR signal and SRV signal areinput at the same time.

Input one of the SFR and SRVsignals.

15 Although the parameter to use thedifferential mode function (FS16i: bit 5of parameter No. 4000 = 1) is set, Csaxis contour control is specified.

Check the setting of theparameter (FS16i: bit 5 ofparameter No. 4000) and the PMCsignal (CON).

16 Although the parameter not to use thedifferential mode function (FS16i: bit 5of parameter No. 4000 = 0) is set, adifferential speed mode command(DEFMD) is input.

Check the setting of theparameter (FS16i: bit 5 ofparameter No. 4000) and the PMCsignal (DEFMD).

17 The parameter settings for the speeddetector (FS16i: bits 2, 1, and 0 ofparameter No. 4011) are invalid.(There is no speed detector thatmatches the settings.)

Check the parameter settings(FS16i: bits 2, 1, and 0 ofparameter No. 4011).


- 57 -

(Continued)

No. Description Action18 Although the parameter not to use the

position coder signal (FS16i: bit 2 ofparameter No. 4001 = 0) is set, aposition coder orientation command(ORCMA) is input.

Check the parameter setting(FS16i: bit 2 of parameter No.4001) and the PMC signal(ORCM).

19 During magnetic sensor orientation,another operation mode is specified.

Do not specify another operationmode during execution of theorientation command. Beforeentering another mode, cancel theorientation command.

20 When the use of the slave operationmode function (FS16i: bit 5 ofparameter No. 4014 = 1) is set, the useof a high-resolution magnetic pulsecoder (FS16i: bit 5 of parameter No.4001 = 1) or the use of the Cs contourcontrol function by the α sensor (FS16i:bit 4 of parameter No. 4018 = 1) is set.These settings cannot be made at thesame time.

Check the parameter settings(FS16i: bit 5 of parameter No.4001, bit 5 of parameter No. 4014,and bit 4 of parameter No. 4018).

21 During position control (such as servomode and orientation), a slaveoperation mode command (SLV) isinput.

Input the slave operation modecommand (SLV) in normaloperation mode.

22 In slave operation mode (SLVS = 1), aposition control command (such asservo mode and orientation) is input.

Input the position controlcommand in normal operationmode.

23 Although the parameter not to use theslave operation mode function (FS16i:bit 5 of parameter No. 4014 = 0) is set,the slave operation mode command(SLV) is input.

Check the parameter setting(FS16i: bit 5 of parameter No.4014) and the PMC signal (SLV).

24 After orientation is performed inincremental mode (INCMD = 1) first, anabsolute position command (INCMD =0) is input next.

Check the PMC signal (INCMD).Perform an absolute positioncommand orientation first.

25 Although the spindle amplifier is notSPM type 4, the use of the Cs contourcontrol function by the α sensor (FS16i:bit 4 of parameter No. 4018 = 1) is set.

Check the spindle amplifierspecification and parametersetting (FS16i: bit 4 of parameterNo. 4018).


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4.3.4 Checking The Feedback Signal Waveform

First, refer to Subsection 9.2.3 of "FANUC SERVO AMPLIFIER αseries Descriptions" (B-65162E), and make sure that the spindlesensors and other detectors are connected at the correct points. Next,see the table given below to find the corresponding check terminalnames on the check board from the sensor connector connection points.Do not observe feedback signals before the parameters for the detectorsthat are set. Phase A, B, and Z signals may not be output correctly untilthe parameters are loaded from the CNC.

Signals input to the SPM and corresponding check terminals on thecheck board(1) SPM type 1, type 2, and type 4

SPM inputconnector

Connector pinsignal

Checkterminal name

Main sensors Remarks

Phase A: pin 5, 6Phase B: pin 7, 8

PA1PB1

M, MZ, and BZ sensorsLow resolution side of the high-resolutionmagnetic pulse coder (128 to 384 λ)


PA4PB4

High resolution side of the high-resolutionmagnetic pulse coder (1000 to 3000 λ)

For type 2 only

JY2

Phase Z: pin 1, 2 PS1 MZ and BZ sensors (one-rotation signal)pin 18 EXTSC1 Proximity switch (external one-rotation signal)pin 1, 3 LSA1 Magnetic sensor (LSA signal)

JY3

pin 5, 14 MSA1 Magnetic sensor (MSA signal) *1Phase A: pin 5, 6Phase B: pin 7, 8

PADPBD

α position coder (1024 p)Low resolution side of the high-resolutionposition coder (1024 p)

Parameter setting


PA3PB3

High resolution side of the high-resolutionposition coder (3000 λ)

For type 2 only

JY4

Phase Z: pin 1, 2 PSD α position coder (one-rotation signal)High-resolution position coder (one-rotationsignal)

Parameter setting


PA2PB2

M, MZ, and BZ sensorsLow resolution side of a high-resolutionmagnetic pulse coder (128 to 384 λ)α position coder S (1024 λ)

For types 2 and 4only


PA3PB3

High resolution side of a high-resolutionmagnetic pulse coder (1000 to 3000 λ)

For type 2 only

Phase Z: pin 1, 2 PS2 MZ and BZ sensors (one-rotation signal) For type 4 only

JY5

Phase Z: pin 1, 2 PSD α position coder S (one-rotation signal)High-resolution magnetic pulse coder (one-rotation signal)

Parameter setting

*1 This check terminal is provided for A20B-1005-0740 only. WithA20B-2001-0830, MSA is observed on CH1 or CH2.

Only for SMPs of which the specification is A06B-6078-H315 to 330

JY6 Phase A: pin 5, 6Phase B: pin 7, 8

PA2PB2

M, MZ, and BZ sensors For type 2 only


- 59 -

(2) SPM type 3

SPM inputconnector

Connector pinsignal

Checkterminal name

Main sensors Remarks


PA1PB1

M, MZ, and BZ sensors Main sideJY2

Phase Z: pin 1, 2 PS1 MZ and BZ sensors (one-rotation signal) Main sidePhase A: pin 5, 6Phase B: pin 7, 8

PA2PB2

M, MZ, and BZ sensors Sub sideJY6

Phase Z: pin 1, 2 PS2 MZ and BZ sensors (one-rotation signal) Sub sidePhase A: pin 5, 6Phase B: pin 7, 8andPhase A: pin 5, 6Phase B: pin 7, 8

PADPBD

α position coder (1024 p) When the main sideis selected byspindle switchingcontrol, signals areoutput on JY4.When the sub sideis selected, signalsare output on JY8.Parameters must beset correctly.

JY4 orJY8

Phase Z: pin 1, 2andPhase Z: pin 1, 2

PSD α position coder (one-rotation signal) When the main sideis selected byspindle switchingcontrol, signals areoutput on JY4.When the sub sideis selected, signalsare output on JY8.Parameters must beset correctly.

pin 18 EXTSC1 Proximity switch (external one-rotation signal) Main sidepin 1, 3 LSA1 Magnetic sensor (LSA signal) Main side

JY3

pin 5, 14 MSA1 Magnetic sensor (MSA signal) Main side(*1)For A20B-1005-0740 only

pin 18 EXTSC2 Proximity switch (external one-rotation signal) Sub sidepin 1, 3 LSA2 Magnetic sensor (LSA signal) Sub side

JY7

pin 5, 14 MSA2 Magnetic sensor (MSA signal) Sub side(*1)For A20B-1005-0740 only

*1 With A20B-2001-0830, MSA is observed on CH1 or CH2.


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4.3.4.1 M sensor

Measurementlocation

Measurementcondition

Sample waveform

Input on JY2 sidePA1, PB1

For sub sideselected by spindleswitching:Input on JY6 sidePA2, PB2

The speed must be1500 min-1 or less. PA1 (PA2)

PB1 (PB2)

Vpp

Voffs

0 V

Waveforms of phaseA and phase B

For the SPM type 4 or SPM of which the specification is A06B-6102-Hxxx#H520 or A06B-6104-Hxxx#H520

Measurement item Specification Measurement method Adjustment methodVpp 0.36 to 0.50 Vp-p Adjustment is normally unnecessary.Voffs 2.5 V ±100 mV Use the DC range of a digital

voltmeter.Level check is possible, butadjustment is not possible.

For SPMs other than the above

Measurement item Specification Measurement method Adjustment methodVpp 0.64 to 0.90 Vp-p Adjustment is normally unnecessary.Voffs 2.5 V ±90 mV Use the DC range of a digital

voltmeter.Level check is possible, butadjustment is not possible.


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4.3.4.2 MZ and BZ sensors

Measurementlocation


Sample waveform


For SPM type 4:Input on JY5 sidePA2, PB2


The speed must be1500 min-1 or less.

Rotation direction: CWDetection gear

Motor

CW

PA1 (PA2)

PB1 (PB2)

Vpp

VphaseVoffs

0 V


Vrip

PA1, PB1 (PA2, PB2)

Ripples of phase A andphase B

(Z - *Z)

Voffz

0 V

Vpz

Waveform ofphase Z


Measurement item Specification Measurement method Adjustment methodVpp 0.5 to 1.2 Vp-pVoffs, Voffz 2.5 V ±100 mV Use the DC range of a digital

voltmeter.Vphase 90 ±3°Vrip < 70 mVVpz > 1.0 V

Normally, the MZ sensor need not beadjusted. For Voffs and Voffz, onlylevel check is possible, butadjustment is not possible.


Measurement item Specification Measurement method Adjustment methodVpp 0.66 to 0.93 Vp-pVoffs, Voffz 2.5 V ±272 mV Use the DC range of a digital

voltmeter.Vphase 90 ±3°Vrip < 70 mVVpz > 1.0 V



- 62 -

4.3.4.3 MZ sensor for α 0.5 (A06B-0866-B390) (old specification)

Measurementlocation


Sample waveform



The speed must be1500 min-1 or less.


Motor

CW

PA1 (PA2)

PB1 (PB2)

Vpp

VphaseVoffs

0 V


(Z - *Z)

Voffz

0 V

Vpz

Waveform ofphase Z


Measurement item Specification Measurement method Adjustment methodVpp 0.5 to 1.2 Vp-pVoffs,Voffz 2.5 V ±100 mV Use the DC range of a digital

voltmeter.Vphase 90 ±3°Vpz > 1.0 V



Measurement item Specification Measurement method Adjustment methodVpp 0.50 to 1.45 Vp-pVoffs 2.5 V ±295 mV Use the DC range of a digital

voltmeter.Voffz 2.5 V ±500 mV Use the DC range of a digital

voltmeter.Vphase 90 ±3°Vpz > 2.0 V



- 63 -

4.3.4.4 High-resolution magnetic pulse coder

After mounting a high-resolution magnetic pulse coder on the machine,check waveforms. If a measurement value exceeds the specified range,adjustment is required.After mounting the sensor, you should check waveforms beforeinstalling components such as a pulley, drawbar, and brake to makeadjustment easier.

(1) Adjusting check pins on the preamplifierSignal on the low-resolution side 128 to 384 λ

Measurementlocation


Sample waveform

Check pins A3 andB3 on thepreamplifier

The speed must be 500min-1 or less.


Motor

CW

A3

B3

Vpp

Voffs

0 V


Signal on the high-resolution side 1000 to 3000 λMeasurement

locationMeasurement

conditionSample waveform

Check pins A1 andB1 on thepreamplifier



Motor

CW

A1

B1

Vpp2

Voffs2

0 V


Measurement item Specification Measurement method Adjustment methodVpp 0.36 to 0.50 Vp-p Adjust potentiometers A3G and B3G

on the preamplifier.Vpp2 0.80 to 1.0 Vp-p Adjust potentiometers A1G and B1G

on the preamplifier.Voffs 2.5 V ±50 mV Use the DC range of a digital

voltmeter.Adjust potentiometers A3O and B3Oon the preamplifier.

Voffs2 2.5 V ±10 mV Use the DC range of a digitalvoltmeter.

Adjust potentiometers A1O and B1Oon the preamplifier.


- 64 -

One-rotation signal

Measurementlocation


Sample waveform

Check pin Z on thepreamplifier


Z

Z22.5 V (VRM)

0 V

Waveform ofphase Z

Z1

Measurement item Specification Measurement method Adjustment methodZ1, Z2 Z1 > 60 mV

Z2 > 60 mVAdjust potentiometer ZO on thepreamplifier so that the value of Z1and that of Z2 are almost the same.


- 65 -

(2) Adjusting check pins on the check boardFor the high-resolution magnetic pulse coder built into the motor,waveforms are factory-adjusted. If a waveform exceeds aspecified value, however, adjust potentiometers on thepreamplifier.

Signal on the low-resolution side 128 to 384 λMeasurement

locationMeasurement






Motor

CW

PA2 (PA1)

PB2 (PB1)

Vpp

Voffs

0 V


Signal on the high-resolution side 1000 to 3000 λMeasurement

locationMeasurement






Motor

CW

PA3 (PA4)

PB3 (PB4)

Vpp2

Voffs2

0 V


For the SPM type 4 or SPM of which the specification is A06B-6102-Hxxx#H520 or 6104-Hxxx#H520



on the preamplifier.


- 66 -

For the SPM type 2



on the preamplifier.Voffs 2.5 V ±24 mV Use the DC range of a digital

voltmeter.Adjust potentiometers A3O and B3Oon the preamplifier.

Voffs2 2.5 V ±15 mV Use the DC range of a digitalvoltmeter.

Adjust potentiometers A1O and B1Oon the preamplifier.

NOTEAdjust the one-rotation signal while checking thewaveform on the preamplifier.


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4.3.5 Spindle Check Board

When connecting the check board, you can:

<1> Observe signal waveforms.

<2> Observe internal data.

4.3.5.1 Spindle check board specifications

There are two types of spindle check boards: Check boards for the αseries and for the D series. These types of check boards are notcompatible. Select a spindle check board according to the drawingnumber of the SPM used.Items that vary depending on the type of check board are describedseparately by indicating the printed circuit board drawing numbers ofcheck boards.

Table 4.3.5.1 Spindle check board specifications

SpecificationDrawing No. of

printed circuit boardApplicable SPM

A06B-6078-H001 A20B-2001-0830 α series (all series after CE-marked products, and partof series before CE-marked products)TYPE1, TYPE4A06B-6078-H102#H500, -H106#H500, -H111#H500A06B-6078-H202#H500, -H206#H500, -H211#H500A06B-6088-H2**#H500, H1**#H500A06B-6092-H2**#H500, H1**#H500A06B-6102-H2**#H520, H1**#H520A06B-6104-H2**#H520, H1**#H520TYPE2A06B-6078-H302#H500, -H306#H500, -H311#H500A06B-6088-H3**#H500A06B-6092-H3**#H500

TYPE3A06B-6088-H4**#H500

αC seriesA06B-6082-Hxxx#H510, 511, 512

A06B-6072-H051 A20B-1005-0740 α series (part of series before CE-marked products)TYPE1A06B-6078-H215#H500, -H222#H500, -H226#H500, -H230#H500TYPE2A06B-6078-H315#H500, -H322#H500, -H326#H500, -H330#H500TYPE3A06B-6078-H411#H500, -H415#H500, -H422#H500, -H426#H500, -H430#H500D series (all series)


- 68 -

4.3.5.2 Check board connection

(1) A06B-6078-H001 (A20B-2001-0830)

JY1B JX4B

JY1A JX4A

JX4

Spindle checkboard

A20B-2001-0830

Output equivalent to JX4

Output equivalent to JY1

SPM

JY1 JY1

JY1B JX4B

JY1A JX4A Spindle checkboard

A20B-2001-0830

Output equivalentto JY1

SPMC

SPM-HV

(2) A06B-6072-H051 (A20B-1005-0740)

JY1B

JY1A JX4A

JX4

Spindle checkboard

A20B-1005-0740

Output equivalentto JY1

SPM

JY1


- 69 -

4.3.5.3 Check terminal output signals

(1) A06B-6078-H001 (A20B-2001-0830) check terminal outputsignals

Check terminal Signal name Check terminal Signal nameLM Load meter signal PA1 Phase A sine wave signal 1SM Speed meter signal PB1 Phase B sine wave signal 1CH1 Analog output for internal data

observation(Phase U current: IU. See 4.3.6.8 (3).)

PS1 Phase Z sine wave signal 1

CH2 Analog output for internal dataobservation(Motor speed TSA: 1638 min-1/V)

PA2 Phase A sine wave signal 2

CH1D Output for internal data bit observation PB2 Phase B sine wave signal 2CH2D Output for internal data bit observation PS2 Phase Z sine wave signal 2VRM Sensor reference voltage PA3 Phase A sine wave signal 3LSA1 Magnetic sensor output LSA signal

(main)PB3 Phase B sine wave signal 3

EXTSC1 External one-rotation signal (main) PA4 Phase A sine wave signal 4LSA2 Magnetic sensor output LSA signal (sub) PB4 Phase B sine wave signal 4

EXTSC2 External one-rotation signal (sub) OVR2 Analog override commandPAD Phase A of position coder signal output 15V +15 VDC power checkPBD Phase B of position coder signal output 5V +5 VDC power checkPSD Phase Z of position coder signal output -15V -15 VDC power check

GND 0 V

Check terminal arrangement

LM

LSA2

SM

EXTSC2

VRM

0V

PA2

PB2

PS2

0V

PAD

PBD

PSD

5V

15V

-15V

PIL

Operation

buttons

DisplayCH1

CH1D

CH2

0V

PA1

PB1

PS1

0V

LSA1

EXTSC1

CH2D

PA3

PB3

PA4

PB4

OVR2

DOWNDATASET

UPMODE


- 70 -

(2) A06B-6072-H051 (A20B-1005-0740) check terminal outputsignals

Check terminal Signal name Check terminal Signal nameLM Load meter signal PA1 Phase A sine wave signal 1SM Speed meter signal PB1 Phase B sine wave signal 1IU Phase U current(*1) PS1 Phase Z sine wave signal 1IV Phase V current(*1) PA2 Phase A sine wave signal 2

VDC DC link voltage PB2 Phase B sine wave signal 2VRM Sensor reference voltage PS2 Phase Z sine wave signal 2MSA1 Magnetic sensor output MSA signal

(main)PA3 Phase A sine wave signal 3

LSA1 Magnetic sensor output LSA signal(main)

PB3 Phase B sine wave signal 3

EXTSC1 External one-rotation signal (main) PA4 Phase A sine wave signal 4MSA2 Magnetic sensor output MSA signal

(sub)PB4 Phase B sine wave signal 4

LSA2 Magnetic sensor output LSA signal (sub) OVR2 Analog override commandEXTSC2 External one-rotation signal (sub) 24V +24 VDC power check

PAD Phase A of position coder signal output 15V +15 VDC power checkPBD Phase B of position coder signal output 5V 5 VDC power checkPSD Phase Z of position coder signal output GND 0 V

Check terminal arrangement

LM

LSA2

SM

MSA2

VRM

0V

PA2

PB2

PS2

0V

EXTSC2

PBA

PBB

PSB

PA4

PB4

PIL

Operation

buttons

DisplayIU

IV

VDC

0V

PA1

PB1

PS1

0V

LSA1

MSA1

EXTSC1

PA3

PB3

5V

15V

24V

OVR2

DATASET DOWN

UPMODE

*1 The value measured on the IU pincorresponds to the actual current as follows:

Model Conversion value (A/V)

SPM-15 50

SPM-22 66.7

SPM-26 100

SPM-30 133


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4.3.6 Observing Data Using the Spindle Check Board

4.3.6.1 Overview

By using the check board, you can convert digital signals used forcontrol in the spindle amplifier module to analog voltage, and observethe conversion result with an oscilloscope. The internal data can beindicated also with the five-digit display.

• A20B-2001-0830This model has two analog output channels (CH1 and CH2) atwhich the internal data (with output of -5 V to +5 V) can beobserved. It also has CH1D and CH2D at which specific bits suchas data bits can be observed.

• A20B-1005-0740This model outputs internal data (output of 0 to 11 V) at terminalsLM and SM using the analog output circuit for the load meter (LM)and speedometer (SM).

4.3.6.2 Major characteristics

Item A20B-2001-0830 A20B-1005-0740Measurement point CH1, CH2 CH1D, CH2D LM, SMOutput voltagerange

-5 to +5 V H: 2 VminL: 0.8 Vmax

0 to 11 V

Resolution About 39 mV(10 V/256)

- About 43 mV(11 V/256)

Output impedance 10 kΩmax 10 kΩmax 10 kΩmax


- 72 -

4.3.6.3 Observation method

By setting data using four DIP switches on the check board, you canoutput internal data to the five-digit display, analog voltage outputcircuit, channels 1 and 2 (LM and SM or CH1 and CH2).Data on channels 1 and 2 is the one from an 8-bit D/A convertor.The correspondence between channel 1/2 and the check terminal islisted below.

Check terminalMeasurement point

A20B-2001-0830 A20B-1005-0740Channel 1 CH1

CH1D, data bit 0LM

Channel 2 CH2CH2D, data bit 0

SM

NOTEWhen using printed-circuit board A20B-1005-0740,set DIP switches S2 and S3 on the spindle amplifiermodule front panel to OFF. After observation, setthem to ON.This operation is not necessary when you useprinted-circuit board A20B-2001-0830.

DIP switch ON position OFF positionS2, S3 Output voltage is

filtered out.Output voltage is notfiltered out.


- 73 -

4.3.6.4 Specifying data to be monitored

<1> Press the four setting switches at the same time for at least asecond ."FFFFF" will be displayed on the indicator.

<2> Turn off the switches and press the "MODE" switch. "d-00" willbe displayed on the indicator and the system will enter the modefor monitoring internal data.In this mode, the motor can be operated normally.

<3> Press the "UP" or "DOWN" switch while holding down the"MODE" switch. The indicator display will change in the rangeof "d-00" to "d-12".

<4> The following shows the correspondence between thedestinations of the internal data of the serial spindle and addressesd-01 to d-12.d-01 to d-04: Specifies the amount of data to be output to the

indicator, data shift, and output format (decimalor hexadecimal).

d-05 to d-08: Specifies the amount of data to be output to theLM terminal, data shift, and whether an offset isprovided.

d-09 to d-12: Specifies the amount of data to be output to theSM terminal, data shift, and whether an offset isprovided.

<5> Select address d-xx in the procedure for setting data described in<3>.

<6> Turn off the "MODE" switch. "d-xx" will disappear 0.5 secondlater, and the data will be displayed for a second.Change the set data using the "UP" or "DOWN" switch within thesecond the data is displayed.

<7> When more than a second elapses without pressing the "UP" or"DOWN" switch, data cannot be changed.If the "MODE" switch is turned on or off, however, setting can bestarted from the beginning of the step in item <6>.


- 74 -

4.3.6.5 Address descriptions and initial values (SPM)

[Output to the indicator]

Address Description Initial valued-01 Specifies a data number. 0d-02 Shift at data output (0 to 31 bits) 0d-03 Data shift direction

0 : Data is shifted right.1 : Data is shifted left.

0

d-04 Display format0 : Decimal notation1 : Hexadecimal notation(0 to F)

0

[Output to the channel 1]

Initial valueAddress Description A20B-2001-0830

(CH1)A20B-1005-0740

(LM)d-05 Specifies a data number 218

(U-phase current)132

d-06 Shift at data output(0 to 31 bits)

8 0

d-07 Data shift direction0: Data is shifted right1: Data is shifted left

0 0

d-08 Offset0: Not provided1: Provided

1 0


Initial valueAddress Description A20B-2001-0830

(CH1)A20B-1005-0740

(SM)d-09 Specifies a data number 19

(Motor velocity)131

d-10 Shift at data output(0 to 31 bits)

18 0

d-11 Data shift direction0: Data is shifted right1: Data is shifted left

0 0


1 0


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4.3.6.6 Address descriptions and initial values (SPMC)

[Output to the indicator]

Address Description Initial valued-01 Specifies a data number. 0d-02 Shift at data output (0 to 31 bits) 0d-03 Data shift direction

0 : Data is shifted right.1 : Data is shifted left.

0

d-04 Display format0 : Decimal notation1 : Hexadecimal notation(0 to F)

0


Initial valueAddress Description

A20B-2001-0830 (CH1)d-05 Specifies a data number 54 (Spindle load level)d-06 Shift at data output (0 to 31 bits) 6d-07 Data shift direction

0: Data is shifted right1: Data is shifted left

0


0


Initial valueAddress Description

A20B-2001-0830 (CH1)d-09 Specifies a data number 34 (U-phase current)d-10 Shift at data output (0 to 31 bits) 8d-11 Data shift direction

0: Data is shifted right1: Data is shifted left

0


1


- 76 -

4.3.6.7 Principles in outputting the internal data of the serial spindle

The length of data is 32 bits (BIT31 TO BIT00) unless it is described as16 bits.

BIT31 BIT00BIT01BIT02BIT03……

<1> Example of output to the indicator

Example1 Displaying data in decimalWhen the number of digits to shift data (d-02)=0 and display format(d-04)=0 (decimal notation): The last 16 bits of data (BIT15 to BIT00)are converted into decimal (0 to 65535 max.) and displayed.

BIT15 BIT00BIT01……

16 bitsConverted into decimaldata and displayed

X X X X XIndicator

Example2 Displaying data in hexadecimalWhen the number of digits to shift data (d-02)=0 and display format(d-04)=1 (hexadecimal notation): The last 16 bits of data (BIT15 toBIT00) are converted into hexadecimal (0 to FFFFF max.) anddisplayed.


16 bitsConverted into hexadecimaldata and displayed

X X X XIndicator (The fifth digit is blank.)

Example3 Shifting data leftWhen the number of digits to shift data (d-02)=3, the shift direction isleft (d-03=1), and display format (d-04)=1 (hexadecimal notation):Data in BIT12 to BIT00 and the last three bits of data (=0) areconverted into hexadecimal (0 to FFFFF max.) and displayed.

BIT12 ……

16 bitsConverted into hexadecimaldata and displayed

X X X XIndicator (The fifth digit is blank.)

000BIT00BIT01


- 77 -

Example4 Shifting data rightWhen the number of digits to shift data (d-02)=5, shift direction is right(d-03=0), and display format (d-04)=0 (decimal notation): Data inBIT20 to BIT05 is converted into decimal (0 to 65535 max.) anddisplayed.


16 bits

Converted into decimaldata and displayed

X X X X XIndicator

Example5 Shifting data right when the data length is 16 bitsWhen the data length is 16 bits, data shift (d-02)=5, shift direction isright (d-03=0), and display format is decimal notation (d-04=0): Thefirst five bits of data and data in BIT15 to BIT05 are converted intodecimal and displayed.

BIT15 ……

16 bitsConverted into decimaldata and displayed

X X X X XIndicator

000 BIT050 0


- 78 -

<2> Example of output to the channel 1Internal data is output to channel 1 by setting it in an 8-bit D/Aconvertor.The output range of the D/A convertor varies from one printed-circuit board to another. The output ranges from -5 V to +5 V(printed-circuit board A20B-2001-0830) or from 0 V to +11 V(printed-circuit board A20B-1005-0740) according to the internaldata that is set. See the table below.

Output on channel 1Internal data inbinary (decimal)

Setting d-08(whether there is

offset) A20B-2001-0830 A20B-1005-0740

00000000( 0) 0 -5V 0V11111111( 255) 0 +4.96V +11V10000000(-128) 1 -5V 0V00000000( 0) 1 0V +5.5V01111111( 127) 1 +4.96V +11V

Example1 Data setWhen the number of digits to shift data (d-06)=0 and when no offset isprovided (d-08=0): The last eight bits of data (BIT07 to BIT00) is setin the D/A converter of the LM terminal.

BIT07 BIT00BIT01

Set in the D/A converter for channel 1 output

BIT06 BIT05 BIT04 BIT03 BIT02

Example2 Shifting data leftWhen the number of digits to shift data (d-06)=3, shift direction is right(d-07=1), and no offset is provided (d-08=0): Data in BIT14 to BIT00and the last three bits of data (=0) are set in the D/A converter.

BIT04 00


BIT03 BIT02 BIT01 BIT00 0

Example3 Shifting data rightWhen the number of digits to shift data (d-06)=10, shift direction isright (d-07=1), and no offset is provided (d-08=0): Data in BIT17 toBIT10 is set in the D/A converter.

BIT17 BIT10BIT11




- 79 -

Example4 Shifting data right when the data length is 16 bitsWhen the data length is 16 bits, data shift (d-06)=10, shift direction isright (d-07=0), and no offset is provided (d-08=0): The first two bits ofdata (=0) and data in BIT15 to BIT10 are set in the D/A converter.

0 BIT10BIT11


0 BIT15 BIT14 BIT13 BIT12

Example5 If an offset is providedWhen the number of digits to shift data (d-06)=10, shift direction isright (d-07=0), and an offset is provided (d-08=1): Data in mostsignificant bit BIT17 (to which 1 is added) and data in BIT16 to BIT10are set in the D/A converter.


BIT17 Data +1 BIT10BIT11BIT16 BIT15 BIT14 BIT13 BIT12

Example6 Data bit observation(for printed-circuit board A20B-2001-0830 only)

For data shift (d-06) = 0 with no offset (d-08 = 0), the lowest data bit(BIT00) can be observed as a high/low level at check terminal CH1D.

BIT07 BIT00BIT01

Output to check terminal CH1D


<3> Example of output to the channel 2Output to the channel 2 is the same as that to the channel 1.However, the addresses for setting data (d-09 to d-12) aredifferent from those for output to the channel 1.Setting velocity information in the channel 1 and the number oferrors in the channel 2 enables simultaneous monitoring of thechange in each data item using the two channels.


- 80 -

4.3.6.8 Data numbers

(1) SPM

DataNo.

DescriptionData

lengthRemarks

Main data16 Motor speed command 32 The 12th bit (BIT12) indicates a units in

rpm.19 Motor speed 32 The 12th bit (BIT12) indicates a units in

rpm.25 Motor speed deviation 32 (Speed command - motor speed) The

12th bit (BIT12) indicates a units in rpm.4 Move command 32 Number of command pulses for ITP

(usually 8 ms)9 Positioning error 32 Number of erroneous pulses (Spindle

synchronous control Cs contour controlRigid mode)

90 Torque command 16 0 to ±16384131 Speedometer data 16 SM terminal132 Load meter data 16 LM terminal136 Position error 32 Number of erroneous pulses (Position

coder orientation)Data between the spindle and CNC

5 Speed command data 16 ±16384 for the maximum speed command6 Spindle control signal 1 16 See the command signal from the PMC to

spindle in (4).10 Load meter data 16 ±16384 for maximum output11 Motor speed data 16 ±16384 for maximum speed12 Spindle status signal 1 16 See the status signal from the spindle to

PMC in (4).66 Spindle control signal 2 16 See the command signal from the PMC to

spindle in (4).182 Spindle status signal 2 16 See the status signal from the spindle to

PMC in (4).Other data218 Phase U current (A/D

conversion data)16 10 V/FS by shifting 8 bits left(Note)

219 Phase V current (A/Dconversion data)

16

121 Magnetic sensor signal(MS signal on the mainside)

16 15.4 V/FS by shifting 8 bits left(Note)

125 Magnetic sensor signal(MS signal on the subside)

16

162 DC link voltage 16 1000 V/FS by shifting 8 bits left(Note)

NOTEPrinted-circuit board A20B-2001-0830 has no checkpin for IU, IV, VDC, MSA1 or MSA2. To observesignals such as phase U current, output thecorresponding internal data to channels 1 and 2.Shift the data to be observed by 8 bits left with anoffset. The table (3) lists the internal dataconversion.


- 81 -

(2) SPMC

DataNo.

DescriptionData

lengthRemarks

Main data19 Motor speed command 32 The 12th bit (bit 12) indicates the unit of

min-1.8 Motor speed 32 The 12th bit (bit 12) indicates the unit of

min-1 (only when a position coder is used)13 Estimated motor speed 32 The 12th bit (bit 12) indicates the unit of

min-1.18 Spindle speed 32 The 12th bit (bit 12) indicates the unit of

min-1 (only when a position coder is used)7 Motor speed deviation 32 (Speed command - motor speed). The

12th bit (bit 12) indicates the unit of min-1.4 Move command 32 Number of command pulses for ITP

(usually 8 ms)9 Position error 32 Number of erroneous pulses (spindle

synchronization, Cs contour control, rigidmode)

90 Torque command 16 0 to ±16384131 Load meter data 16 LM pin117 Position error 32 Number of erroneous pulses (position

coder orientation)Data between the spindle and CNC

74 Speed command data 16 ±16384 for the maximum speed command77 Spindle control signal 1 16 See the command signal from the PMC to

spindle in (4).54 Load meter data 16 ±16384 for maximum output55 Motor speed data 16 ±16384 for maximum speed61 Spindle status signal 1 16 See the status signal from the spindle to

PMC in (4).78 Spindle control signal 2 16 See the command signal from the PMC to

spindle in (4).62 Spindle status signal 2 16 See the status signal from the spindle to

PMC in (4).Other data

34 Phase U current (A/Dconversion data)

16 10 V/FS by shifting 8 bits left(Note)

35 Phase V current (A/Dconversion data)

16

39 DC link voltage 16 1000 V/FS by shifting 8 bits left(Note)

NOTEInternal data conversion is performed as shown inthe Table in (3).


- 82 -

(3) Internal data conversion (A20B-2001-0830)

DataNo.

Signalname

Description (All are voltage values on check pins whenthe shift amount is 8.)

218 IU Phase U current The current is positive when it is input to theamplifier.

219 IV Phase V current Model Conversion resultSPM-2.2, 5.5SPM-11HV

16.7 A/1 V

SPM-11, 15HV 33.3 A/1 VSPM-15, 25HV 50.0 A/1 VSPM-22, 45HV 66.7 A/1 VSPM-26 100 A/1 VSPM-30, 75HV 133 A/1 VSPM-45 200 A/1 VSPM-55 233 A/1 V

162 VDC DC link voltage signal 100 V/1 V (200 V/1 V for SPM-HV)121 MSA1 Magnetic sensor output MSA signal 1 1.54 V/1 V

(Adjustment value on check board: Single amplitude 2.0 Vmin, offset ±300 mV max)

125 MSA2 Magnetic sensor output MSA signal 2 1.54 V/1 V

(4) Spindle control signals (PMC signals)

DataNo.

Description

6 Spindle control signal 1 (command signal from the PMC to spindle)BIT15 BIT14 BIT13 BIT12 BIT11 BIT10 BIT09 BIT08

RCH RSL INTG SOCN MCFN SPSL *ESP ARST

BIT07 BIT06 BIT05 BIT04 BIT03 BIT02 BIT01 BIT00

MRDY ORCM SFR SRV CTH1 CTH2 TLMH TLML

66 Spindle control signal 2 (control signal from the PMC to spindle)


*DOPN DSCN SORSL MPOF SLV MORCM


RCHHG MFNHG INCMD OVR DEFMD NRRO ROTA INDX

12 Spindle status signal 1 (status signal from the spindle to PMC)


MOAR2 MOAR1 POAR2 SLVS RCFN RCHP CFIN CHP


ORAR TLM LDT2 LDT1 SAR SDT SST ALM

182 Spindle status signal 2 (status signal from the spindle to PMC)BIT15 BIT14 BIT13 BIT12 BIT11 BIT10 BIT09 BIT08


EXOF SOREN MSOVR INCST PC1DT


- 83 -

4.3.6.9 Example of monitoring data

<1> Example of monitoring a positioning error using the channel 1

Address Description Set Datad-05 Data number 9 9 9 9d-06 Data shift 0 1 1 2d-07 Data shift direction 0 0 1 1d-08 Offset 1 1 1 1Data unit (NOTE) 256p/FS 512p/FS 128p/FS 64p/FS

NOTEPrinted-circuit board A20B-2001-0830:

FS=10V (-5V to 5V)Printed-circuit board A20B-1005-0740:

FS=11V (0V to 11V)

<2> Example of monitoring a motor speed using the channel 2

Address Description Set Datad-09 Data number 19 19 19d-10 Data shift 12 13 11d-11 Data shift direction 0 0 0d-12 Offset 0 0 0Data unit (NOTE) 256min-1/FS 512min-1/FS 128p/FS

NOTEPrinted-circuit board A20B-2001-0830:

FS=10V (-5V to 5V)Printed-circuit board A20B-1005-0740:

FS=11V (0V to 11V)

<3> Observation of phase U current in the SPM-11

Data No. 218

Shift amount 8

Shift direction 0 (shifted left)

Offset 1 (provided)

Setting of observation data+5 V

0 V

-5 V

100 A

33.3 A/1 V

5. PERIODIC MAINTENANCE OF SERVO AMPLIFIER START-UP PROCEDURE B-65165E/02

- 84 -

5 PERIODIC MAINTENANCE OF SERVOAMPLIFIER

5. PERIODIC MAINTENANCEB-65165E/02 START-UP PROCEDURE OF SERVO AMPLIFIER

- 85 -

5.1 BATTERY FOR THE ABSOLUTE PULSE CODER

When the interface with the CNC is type B or FSSB, the battery for theabsolute pulse coder is required for absolute-position detection.The battery for the absolute pulse coder is installed in the followingtwo methods:

Method 1: Installing a special lithium battery in the SVM• Use A06B-6073-K001.

Method 2: Using a battery case (A06B-6050-K060)• Use A06B-6050-K061 or a commercially available

size-D battery.• A connection cable (A06B-6093-K810) is required.

Use NameOrder specification

drawing No.Classification

Method 1 Battery A06B-6073-K001Battery A06B-6050-K061Battery case A06B-6050-K060Cable for batteryconnection

A06B-6093-K810

Method 2

Connector for batteryconnection

A06B-6093-K303

Option


- 86 -

5.1.1 Installing a Special Lithium Battery in the SVM (Method 1)

A special lithium battery (A06B-6073-K001) can be installed in theSVM (see the figure below).

[Installation procedure](1) Remove the battery cover from the SVM.(2) Install the battery in the SVM as shown in the figure below.(3) Install the battery cover.(4) Attach the battery connector to CX5X or CX5Y of the SVM.

Battery

SVM

Battery cover

Inserting direction

Red: +6 V

Black: 0 V

CX5X, CX5Y

+6 V

0 V

Connector

Cable side

WARNING1 Install the battery with correct polarity. If the battery

is installed with incorrect polarity, it may overheat,blow out, or catch fire.

2 When installing the battery with its connectorattached to connector CX5X or CX5Y, attach thefactory-installed protection socket to the unusedconnector. When the +6-V and 0-V pins of CX5X orCX5Y are short-circuited, the battery may overheat,blow out, or catch fire.

CAUTION1 You may attach the battery connector to either CX5X

or CX5Y.2 When the battery is installed in the SVM from the

side from which the cable is drawn, the cable may bestretched tight, which can lead to a poor contactcondition. Therefore, install the battery so that thecable is not extended tightly.


- 87 -

5.1.2 Using a Battery Case (A06B-6050-K060) (Method 2)

Details of connection of the battery unit to the SVM

Screw terminal: M3Crimp terminal: 1.25-4

+6 V

Battery unit

0 V

SVM

CX5X, CX5Y (2)

CX5X, CX5Y (1)

0.3 mm2 × 2

Housing : 1L-L2S-S3L-B(N)Contact : 1L-C2-1-00001Manufacturer: Japan Aviation Electronics

Industry, Ltd.

Note) A special crimping tool is required to attach the contacts to acable. Contact the following:Japan Aviation Electronics Industry, Ltd.




CAUTION1 You may attach the battery connector to either CX5X

or CX5Y.2 To an unused connector, attach the supplied

protection socket.


- 88 -

5.1.3 Connecting a Battery to Multiple SVMs

There are two methods for connecting a battery to more than one SVM.

(1) Connecting a battery installed in one SVM to other SVMs

(2) Connecting a separate battery unit to SVMs

The following connector kit is provided for preparing cables:

Drawing No. ManufacturerPart number ofmanufacturer

Product Quantity

1L-L2S-S3L-B(N) Housing 2A06B-6093-K303 Japan AviationElectronics Industry, Ltd. 1L-C2-1-00001 Contact 4

Note) A special crimping tool is required to attach contacts to a cable.Contact the following:Japan Aviation Electronics Industry, Ltd.

Cable side

Inserting direction

+6 V

0 V1L-L2S-S3L-B(N)




CAUTIONNote that when a battery is shared among more thanone servo amplifier module (SVM), the battery lifewill shorten. The following table shows general lifetimes of batteries.

Battery type General life timeLithium battery One year for three axesAlkaline size D battery One year for six axes


- 89 -

(1) Connecting a battery installed in one SVM to other SVMs

SVM SVM

CX5X

CX5Y

CX5X

CX5Y

No batteryBattery contained

(2) Connecting a separate battery unit to SVMs

SVM SVM

CX5X

CX5Y

CX5X

CX5Y

No batteryNo battery

Battery unitA06B-6050-K060

Battery contained

Cable between the battery and amplifierA06B-6093-K810 (Only a 5-m cable is available.)


- 90 -

Details of connection between SVMs

Housing : 1L-L2S-S3L-B(N)Contact : 1L-C2-1-00001Manufacturer: Japan Aviation

Electronics Industry, Ltd.

CX5X, CX5Y (2)

SVM

CX5X, CX5Y (1)

0.3 mm2 × 2

SVM

CX5X, CX5Y (2)

CX5X, CX5Y (1)

Housing : 1L-L2S-S3L-B(N)Contact : 1L-C2-1-00001Manufacturer: Japan Aviation

Electronics Industry, Ltd.


- 91 -

5.1.4 Replacing the Battery

To prevent absolute-position information of the absolute pulse coderfrom being lost, replace the battery while the power for control is on.Follow the procedure explained below.

1. Make sure that the power to the SVM is on (the 7-segment LEDon the front of the SVM is on).

2. Make sure that the emergency stop button of the system has beenpressed.

3. Make sure that the motor is not activated.

4. Make sure that the DC link charge LED of the SVM is off.

5. Remove the old battery, and install a new battery.

6. This completes the replacement. You can turn off the power tothe system.

WARNING1 When replacing the battery, be careful not to touch

bare metal parts in the panel. In particular, becareful not to touch any high-voltage circuits due tothe electric shock hazard.

2 Before replacing the battery, check that the DC linkcharge confirmation LED on the front of the servoamplifier is off. Neglecting this check creates anelectric shock hazard.

3 Install the battery with correct polarity. If the batteryis installed with incorrect polarity, it may overheat,blow out, or catch fire.



- 92 -

5.1.5 Attaching and Detaching Connectors

(1) Attaching connectors

<1> Check the attachmentposition.

<2>

10 degrees or less

Plug the cableconnector while raisingit slightly.

<5>

5 degrees or less

Here, the angle of thecable connector to thehorizontal must be 5degrees or less.

<3> After passing the lockpin, insert theconnector straight.

<4> The attachment of theconnector iscompleted.

CAUTIONWhen attaching or detaching the battery connector,be careful not to apply excessive torsion to theconnector. When the connector is attached ordetached, applying excessive stress to the connectorcan lead to a poor contact condition or otherproblems.


- 93 -

(2) Detaching the connector

<1> Hold both the sides ofthe cable insulator andthe cable, and pull themhorizontally.

<2>

10 degrees or less

Pull out the cable sidewhile raising it slightly.

<3>

5 degrees or less

Here, the angle of thecable to the horizontalmust be 5 degrees orless.

II. TROUBLESHOOTING

B-65165E/02 TROUBLESHOOTING 1.OVERVIEW

- 97 -

1 OVERVIEW

This part describes the troubleshooting procedure for each module.Read the section related to your current trouble to locate it and take anappropriate action.First, check the alarm number and STATUS display indicated on yourmodule with each list (alarm numbers in the list are those for the CNC)in Chapter 2 to find the corresponding detailed information in Chapter3. Then take an appropriate action according to the detailedinformation.

2. ALARM NUMBERS AND BRIEF DESCRIPTIONS TROUBLESHOOTING B-65165E/02

- 98 -

2 ALARM NUMBERS AND BRIEFDESCRIPTIONS

2. ALARM NUMBERS ANDB-65165E/02 TROUBLESHOOTING BRIEF DESCRIPTIONS

- 99 -

2.1 FOR SERIES 16i, 18i, 20i, 21i, AND Power Mate i

Servo alarm

AlarmNo.

SVM SPM PSM Description Remarks

360 Pulse coder checksum error (built-in) 3.3.7 (1)361 Pulse coder phase error (built-in) 3.3.7 (1)363 Clock error (built-in) 3.3.7 (1)364 Soft phase alarm (built-in) 3.3.7 (1)365 LED error (built-in) 3.3.7 (1)366 Pulse error (built-in) 3.3.7 (1)367 Count error (built-in) 3.3.7 (1)368 Serial data error (built-in) 3.3.7 (3)369 Data transfer error (built-in) 3.3.7 (3)380 LED error (separate) 3.3.7 (2)381 Pulse coder phase error (separate) 3.3.7 (2)382 Count error (separate) 3.3.7 (2)383 Pulse error (separate) 3.3.7 (2)384 Soft phase alarm (separate) 3.3.7 (2)385 Serial data error (separate) 3.3.7 (3)386 Data transfer error (separate) 3.3.7 (3)417 Invalid parameter 3.3.6421 Excessive semi-full error 3.3.8430 Servomotor overheat 3.3.5431 03 Converter: main circuit overload 3.1432 06 Converter: control undervoltage/open

phase3.1

433 04 Converter: DC link undervoltage 3.1434 2 Inverter: control power supply

undervoltage3.2

435 5 Inverter: DC link undervoltage 3.2436 Soft thermal (OVC) 3.3.3437 01 Converter: input circuit overcurrent 3.1438 8

9AbCdE

Inverter: current alarm (L axis)(M axis)(N axis)(L and M axes)(M and N axes)(L and N axes)(L, M, and N axes)

3.2

439 07 Converter: DC link overvoltage 3.1440 08 Converter excessive deceleration power 3.1


- 100 -

AlarmNo.


441 Current offset error 3.3.8442 05 Converter: DC link charging/inverter DB 3.1443 02 Converter: cooling fan stopped 3.1444 1 Inverter: internal cooling fan stopped 3.2445 Soft disconnection alarm 3.3.4446 Hard disconnection alarm Not

issued447 Hard disconnection alarm (separate) 3.3.4448 Feedback mismatch alarm 3.3.8449 8.

9.A.b.C.d.E.

Inverter: IPM alarm (L axis)(M axis)(N axis)(L and M axes)(M and N axes)(L and N axes)(L, M, and N axes)

3.2

453 Soft disconnection alarm (α pulse coder) 3.3.4

Spindle alarm (n represents a spindle number. Example: n = 1 for thefirst spindle)

AlarmNo.


749 A Program ROM error 3.4749 A0 Program ROM error 3.4749 A1 Program RAM error 3.4749 A2 Program RAM error 3.4749 A3 SPM control circuit clock error 3.4749 A4 SRAM parity error 3.4

7n01 01 Motor overheat 3.47n02 02 Excessive speed deviation 3.47n03 03 DC link fuse blown 3.47n04 04 06 Input power supply open phase and power

supply failure3.4

7n07 07 Excessive speed 3.47n09 09 Main circuit overload 3.47n11 11 07 DC link overvoltage 3.47n12 12 DC link overcurrent/IPM alarm 3.4750 13 CPU internal data memory error 3.4

7n15 15 Output switching/spindle switching alarm 3.4750 16 RAM error 3.4750 19 Excessive offset of the phase U current

detection circuit3.4

750 20 Excessive offset of the phase V currentdetection circuit

3.4


- 101 -

(n represents a spindle number. Example: n = 1 for the first spindle)

AlarmNo.


749 24 Serial transfer data error 3.4749 25 Setting data transfer stopped 3.4

7n26 26 Cs contour control speed detection signaldisconnected

3.4

7n27 27 Position coder signal disconnected 3.47n28 28 Cs contour control position detection

signal disconnected3.4

7n29 29 Short-period overload 3.47n30 30 01 PSM main circuit overcurrent 3.47n31 31 Speed detection signal disconnected and

motor lock alarm3.4

750 32 Serial communication LSI internal RAMerror

3.4

7n33 33 05 DC link precharge failure 3.47n34 34 Parameter data out of the specifiable

range3.4

7n35 35 Too large of a gear ratio is specified. 3.47n36 36 Error counter overflow 3.47n37 37 Speed detector parameter error 3.47n39 39 Cs contour control one-rotation signal

detection error3.4

7n40 40 Cs contour control one-rotation signal notdetected

3.4

7n41 41 Position coder one-rotation signaldetection error

3.4

7n42 42 Position coder one-rotation signal notdetected

3.4

7n43 43 Differential speed mode position codersignal disconnected

3.4

7n44 44 A/D conversion error 3.47n46 46 Position coder one-rotation signal

detection error during thread cutting3.4

7n47 47 Position coder signal error 3.47n48 49 Excessive differential speed conversion

result3.4

7n50 50 Excessive speed command calculationvalue during spindle synchronization

3.4

7n51 51 04 DC link undervoltage 3.47n52 52 ITP signal error I 3.47n53 53 ITP signal error II 3.47n54 54 Current overload alarm 3.47n55 55 Power line state error at spindle

switching/output switching3.4

7n56 56 Control circuit cooling fan stopped 3.47n56 57 08 Excessive regenerated power 3.47n58 58 03 PSM main circuit overload 3.47n59 59 02 PSM cooling fan stopped 3.4


- 102 -

2.2 FOR SERIES 15i

Servo alarm

AlarmNo.


SV0027 Invalid digital servo parameter setting 3.3.6SV0360 Pulse coder checksum error (built-in) 3.3.7 (1)SV0361 Pulse coder phase error (built-in) 3.3.7 (1)SV0363 Clock error (built-in) 3.3.7 (1)SV0364 Soft phase alarm (built-in) 3.3.7 (1)SV0365 LED error (built-in) 3.3.7 (1)SV0366 Pulse error (built-in) 3.3.7 (1)SV0367 Count error (built-in) 3.3.7 (1)SV0368 Serial data error (built-in) 3.3.7 (3)SV0369 Data transfer error (built-in) 3.3.7 (3)SV0380 LED error (separate) 3.3.7 (2)SV0381 Pulse coder phase error (separate) 3.3.7 (2)SV0382 Count error (separate) 3.3.7 (2)SV0383 Pulse error (separate) 3.3.7 (2)SV0384 Soft phase alarm (separate) 3.3.7 (2)SV0385 Serial data error (separate) 3.3.7 (3)SV0386 Data transfer error (separate) 3.3.7 (3)SV0421 Excessive semi-full error 3.3.8SV0430 Servomotor overheat 3.3.5SV0431 03 Converter: main circuit overload 3.1SV0432 06 Converter: control undervoltage/open

phase3.1

SV0433 04 Converter: DC link undervoltage 3.1SV0434 2 Inverter: control power supply undervoltage 3.2SV0435 5 Inverter: DC link undervoltage 3.2SV0436 Soft thermal (OVC) 3.3.3SV0437 01 Converter: input circuit overcurrent 3.1SV0438 8

9AbCdE

Inverter: current alarm (L axis)(M axis)(N axis)(L and M axes)(M and N axes)(L and N axes)(L, M, and N axes)

3.2

SV0439 07 Converter: DC link overvoltage 3.1SV0440 08 Converter excessive deceleration power 3.1SV0441 Current offset error 3.3.8


- 103 -

AlarmNo.


SV0442 05 Converter: DC link charging/inverter DB 3.1SV0443 02 Converter: cooling fan stopped 3.1SV0444 1 Inverter: internal cooling fan stopped 3.2SV0445 Soft disconnection alarm 3.3.4SV0446 Hard disconnection alarm Not

issuedSV0447 Hard disconnection alarm (separate) 3.3.4SV0448 Feedback mismatch alarm 3.3.8SV0449 8.

9.A.b.C.d.E.

Inverter: IPM alarm (L axis)(M axis)(N axis)(L and M axes)(M and N axes)(L and N axes)(L, M, and N axes)

3.2

Spindle alarm

AlarmNo.


SP097x A Program ROM error 3.4SP097x A0 Program ROM error 3.4SP097x A1 Program RAM error 3.4SP097x A2 Program RAM error 3.4SP097x A3 SPM control circuit clock error 3.4SP097x A4 SRAM parity error 3.4SP0001 01 Motor overheat 3.4SP0002 02 Excessive speed deviation 3.4SP0003 03 DC link fuse blown 3.4SP0004 04 06 Power supply failure 3.4SP0007 07 Excessive speed 3.4SP0009 09 Main circuit overload 3.4SP0011 11 07 DC link overvoltage 3.4SP0012 12 DC link overcurrent/IPM alarm 3.4SP098x 13 CPU internal data memory error 3.4SP0015 15 Output switching/spindle switching alarm 3.4SP098x 16 RAM error 3.4

SP098x19 Excessive offset of the phase U current


SP098x20 Excessive offset of the phase V current


SP022x 24 Serial transfer data error 3.4SP022x 25 Serial data transfer stopped 3.4


- 104 -

AlarmNo.


SP0026 26 Cs contour control speed detection signalerror

3.4

SP0027 27 Position coder signal error 3.4SP0028 28 Cs contour control position detection

signal error3.4

SP0029 29 Short-period overload 3.4SP0030 30 01 PSM main circuit overcurrent ‘SP0031 31 Speed detection signal disconnected and

motor lock alarm3.4

SP098x 32 Serial communication LSI internal RAMerror

3.4

SP0033 33 05 DC link precharge failure 3.4SP0034 34 Parameter data out of the specifiable

range3.4

SP0035 35 Too large of a gear ratio is specified. 3.4SP0036 36 Error counter overflow 3.4SP0037 37 Speed detector parameter error 3.4SP0039 39 Cs contour control one-rotation signal

detection error3.4

SP0040 40 Cs contour control one-rotation signal notdetected

3.4

SP0041 41 Position coder one-rotation signaldetection error

3.4

SP0042 42 Position coder one-rotation signal notdetected

3.4

SP0043 43 Differential speed mode position codersignal error

3.4

SP0044 44 A/D conversion error 3.4SP0046 46 Position coder one-rotation signal


SP0047 47 Position coder signal error 3.4SP0049 49 Excessive differential speed conversion

result3.4

SP0050 50 Excessive speed command calculationvalue during spindle synchronization

3.4

SP0051 51 04 DC link undervoltage 3.4SP0052 52 ITP signal error I 3.4SP0053 53 ITP signal error II 3.4SP0054 54 Current overload alarm 3.4SP0055 55 Power line state error at spindle

switching/output switching3.4

SP0056 56 Control circuit cooling fan stopped 3.4SP0056 57 08 Excessive regenerated power 3.4SP0058 58 03 PSM main circuit overload 3.4SP0059 59 02 PSM cooling fan stopped 3.4


- 105 -

2.3 FOR SERIES 16, 18, 20, 21

Servo alarm

AlarmNo.

Diagnosisscreen


350 Alarm 3 α pulse coder error alarm 3.3.7351 Alarm 4 Pulse coder communication error alarm 3.3.7400 OVL 1

23

Fan stopped alarm (SVM)Fan stopped alarm (PSM)Overheat alarm (PSM)Overheat alarm (motor)

3.23.1

3.3.5HVA 7 DC link overvoltage alarm 3.1

89AbCdE

1

Abnormal current alarm (L axis)(M axis)(N axis)(L, M axis)(M, N axis)(L, N axis)(L, M, N axis)

(PSM overcurrent + IPM alarm)

3.2

3.1

HCA

8.9.A.b.C.d.E.

IPM alarm (L axis)(M axis)(N axis)(L, M axis)(M, N axis)(L, N axis)(L, M, N axis)

3.2

OVC Soft thermal (OVC) 3.3.3LVA 2

546

Control power supply undervoltagealarmDC link undervoltage alarm (SVM)DC link undervoltage alarm (PSM)Power supply state alarm

3.2

3.1

FAN 12

Fan stopped alarm (Series 20 only)Fan stopped alarm (Series 20 only)

3.23.1

MCC 5 MCC fused, precharge alarm 3.1

414

OFS Current conversion error alarm 3.3.8416 FBA Feedback disconnected alarm 3.3.4417 PRM Invalid servo parameter setting alarm 3.3.6

For the correspondence between the diagnosis screennumbers and names, see the table below.


- 106 -

DGN No. #7 #6 #5 #4 #3 #2 #1 #0

Alarm 1 200 OVL LVA OVC HCA HVA DCA FBA OFA

Alarm 2 201 ALD EXP

Alarm 3 202 CSA BLA PHA RCA BZA CKA SPH

Alarm 4 203 DTE CRC STB PRM

Alarm 5 204 OFS MCC LDM PMS FAN DAL ABF

Spindle alarm

Alarm No. SVM SPM PSM Description Remarks749 A Program ROM error 3.4749 A0 Program ROM error 3.4749 A1 Program RAM error 3.4749 A2 Program RAM error 3.4749 A3 SPM control circuit clock error 3.4749 A4 SRAM parity error 3.4

751 (AL-01) 01 Motor overheat 3.4751 (AL-02) 02 Excessive velocity error 3.4751 (AL-03) 03 DC link fuse blown 3.4751 (AL-04) 04 06 Input power supply open phase and

power supply failure3.4

751 (AL-07) 07 Overspeed 3.4751 (AL-09) 09 Main circuit overload 3.4751 (AL-11) 11 07 DC link overvoltage 3.4751 (AL-12) 12 DC link overcurrent/IPM alarm 3.4

750 13 CPU internal data memory failure 3.4751 (AL-15) 15 Speed range switching and spindle

switching alarm3.4

750 16 RAM error 3.4750 19 Phase U current detector circuit

excessive offset3.4

750 20 Phase V current detector circuitexcessive offset

3.4

749 24 Serial transfer data error 3.4749 25 Serial data transfer stopped 3.4

751 (AL-26) 26 Cs contouring control velocity detectionsignal disconnected

3.4

751 (AL-27) 27 Position coder signal disconnected 3.4751 (AL-28) 28 Cs contouring control position detection


751 (AL-29) 29 Short-period overload 3.4751 (AL-30) 30 01 PSM main circuit overcurrent 3.4751 (AL-31) 31 Speed detection signal disconnected

and motor lock alarm3.4


3.4


- 107 -

Alarm No. SVM SPM PSM Description Remarks751 (AL-33) 33 05 DC link precharge failure 3.4751 (AL-34) 34 Parameter data out of specification 3.4751 (AL-35) 35 Too large gear ratio specified 3.4751 (AL-36) 36 Error counter overflow 3.4751 (AL-37) 37 Speed detector parameter error 3.4751 (AL-39) 39 Cs contouring control one-rotation

signal detection error3.4

751 (AL-40) 40 Cs contouring control one-rotationsignal not detected

3.4

751 (AL-41) 41 Position coder one-rotation signaldetection error

3.4

751 (AL-42) 42 Position coder one-rotation signal notdetected

3.4

751 (AL-43) 43 Differential speed mode position codersignal disconnected

3.4

751 (AL-44) 44 A/D conversion error 3.4751 (AL-46) 46 Position coder one-rotation signal


751 (AL-47) 47 Position coder signal error 3.4751 (AL-49) 49 Excessive differential speed conversion

result3.4

751 (AL-50) 50 Excessive speed command computedvalue during the synchronization controlof the spindle

3.4

751 (AL-51) 51 04 DC link undervoltage 3.4751 (AL-52) 52 ITP signal error I 3.4751 (AL-53) 53 ITP signal error II 3.4751 (AL-54) 54 Overload current alarm 3.4751 (AL-55) 55 Power line state error at spindle or

speed range switching3.4

751 (AL-56) 56 Control circuit cooling fan stopped 3.4751 (AL-57) 57 08 Excessive regenerated power 3.4751 (AL-58) 58 03 PSM main circuit overload 3.4751 (AL-59) 59 02 PSM cooling fan stopped 3.4


- 108 -

2.4 FOR SERIES 15

Servo alarm

AlarmNo.


SV001 Soft thermal (OVC) 3.3.389AbCdE

1



3.2

3.1

SV003

8.9.A.b.C.d.E.


3.2

SV004 7 DC link overvoltage 3.1SV005 5 Precharge alarm (Series 15-A)

(simultaneously with SV006)3.1

25

46

Control power supply undervoltage alarmDC link undervoltage alarm (SVM)DC link undervoltage alarm (PSM)Power supply state alarm

3.1SV006

5 Precharge alarm (Series 15-A)(simultaneously with SV005)

3.1

SV015 Feedback disconnected alarm 3.3.4SV023 1

23

Fan stop alarm (SVM)Fan stop alarm (PSM)Overheat alarm (PSM)Overheat alarm (motor)

3.23.1

3.3.5SV027 Invalid servo parameter setting alarm 3.3.6SV110 α pulse coder error alarm 3.3.7SV114 Rotation speed data error alarm 3.3.7SV115 Pulse coder communication error alarm 3.3.7SV116 Precharge alarm (Series 15-B)SV117 Current conversion error alarm 3.3.8SV124 Excessive semi-full error alarm 3.3.8SV129 Feedback mismatch alarm 3.3.8


- 109 -

AlarmNo.


SV323 Soft disconnection alarm 3.3.7SV324 Hard disconnection alarm 3.3.7SV325 Pulse coder error alarm (built-in) 3.3.7(1)SV326 Pulse coder error alarm (built-in) 3.3.7(1)SV327 Speed error (built-in) 3.3.7(1)SV330 Serial communication error (built-in) 3.3.7(1)SV331 Pulse coder error alarm (built-in) 3.3.7(2)SV333 Pulse coder error alarm (separate linear) 3.3.7(2)SV334 Pulse coder error alarm (separate rotary) 3.3.7(2)SV335 Speed error (separate rotary) 3.3.7(2)SV338 Separate detector alarm 3.3.7(2)SV339 Serial communication error (separate) 3.3.7(3)SV340 Hard disconnection alarm (separate) 3.3.4SV351 Soft disconnection alarm (α pulse coder) 3.3.4


- 110 -

Spindle alarm

AlarmNo.


OT300 A Program ROM error 3.4OT300 A0 Program ROM error 3.4OT300 A1 Program RAM error 3.4OT300 A2 Program RAM error 3.4OT300 A3 SPM control circuit clock error 3.4OT300 A4 SRAM parity error 3.4OT301 01 Motor overheat 3.4OT302 02 Excessive velocity error 3.4OT399 03 DC link fuse blown 3.4OT399 04 06 Power supply failure 3.4OT307 07 Overspeed 3.4OT309 09 Main circuit overload 3.4OT311 11 07 DC link overvoltage 3.4OT312 12 DC link overcurrent/IPM alarm 3.4OT300 13 CPU internal data memory failure 3.4OT399 15 Speed range switching and spindle

switching alarm3.4

OT300 16 RAM error 3.4OT300 19 Phase U current detector circuit excessive

offset3.4

OT300 20 Phase V current detector circuit excessiveoffset

3.4

OT300 24 Serial transfer data error 3.4OT300 25 Serial data transfer stopped 3.4OT326 26 Cs contouring control velocity detection


OT327 27 Position coder signal disconnected 3.4OT328 28 Cs contouring control position detection


OT329 29 Short-period overload 3.4OT330 30 01 PSM main circuit overcurrent 3.4OT331 31 Speed detection signal disconnected and

motor lock alarm3.4

OT300 32 Serial communication LSI internal RAMerror

3.4

OT333 33 05 DC link precharge failure 3.4OT334 34 Parameter data out of specification 3.4OT335 35 Too large gear ratio specified 3.4OT336 36 Error counter overflow 3.4OT399 37 Speed detector parameter error 3.4OT399 39 Cs contouring control one-rotation signal

detection error3.4


- 111 -

AlarmNo.


OT399 40 Cs contour controling one-rotation signalnot detected

3.4

OT399 41 Position coder one-rotation signaldetection error

3.4

OT399 42 Position coder one-rotation signal notdetected

3.4

OT399 43 Differential speed mode position codersignal disconnected

3.4

OT399 44 A/D conversion error 3.4OT399 46 Position coder one-rotation signal


OT399 47 Position coder signal error 3.4OT399 49 Excessive differential speed conversion

result3.4

OT399 50 Excessive speed command computedvalue during the synchronization control ofthe spindle

3.4

OT399 51 04 DC link undervoltage 3.4OT399 52 ITP signal error I 3.4OT399 53 ITP signal error II 3.4OT399 54 Overload current alarm 3.4OT399 55 Power line state error at spindle or speed

range switching3.4

OT399 56 Control circuit cooling fan stopped 3.4OT399 57 08 Excessive regenerated power 3.4OT399 58 03 PSM main circuit overload 3.4OT399 59 02 PSM cooling fan stopped 3.4


- 112 -

2.5 FOR SERIES 0-C

Servo alarm

AlarmNo.

Diagnosisscreen


309 Alarm 3Alarm 4

α pulse coder error alarmPulse coder communication error alarm

3.3.7

400 OVL 123

Fan stopped alarm (SVM)Fan stopped alarm (PSM)Overheat alarm (PSM)Overheat alarm (motor)

3.23.1

3.3.5HVA 7 DC link overvoltage alarm 3.2

DCA & LVA 5 Precharge alarm 3.289AbCdE

1



3.2HCA

8.9.A.b.C.d.E.


3.2

OVC Soft thermal (OVC) 3.3.3

414

LVA 25

46

Control power supply undervoltage alarmDC link undervoltage alarm (SVM)DC link undervoltage alarm (PSM)Power supply state alarm

3.1

3.2

416 FBA Feedback disconnected alarm 3.3.4417 PRM Invalid servo parameter setting alarm 3.3.6

For the correspondence between the diagnosis screennumbers and names, see the table below.

DGN No. #7 #6 #5 #4 #3 #2 #1 #0

Alarm 1 720 to 723 OVL LVA OVC HCA HVA DCA FBA OFA

Alarm 2 730 to 733 ALD EXP

Alarm 3 760 to 763 CSA BLA PHA RCA BZA CKA SPH

Alarm 4 770 to 773 DTE CRC STB PRM


- 113 -

Spindle alarm

AlarmNo.


945 A Program ROM error 3.4945 A0 Program ROM error 3.4945 A1 Program RAM error 3.4945 A2 Program RAM error 3.4945 A3 SPM control circuit clock error 3.4945 A4 SRAM parity error 3.4409 01 Motor overheat 3.4409 02 Excessive velocity error 3.4409 03 DC link fuse blown 3.4409 04 06 Input power supply open phase and power

supply failure3.4

409 07 Overspeed 3.4409 09 Main circuit overload 3.4409 11 07 DC link overvoltage 3.4409 12 DC link overcurrent/IPM alarm 3.4408 13 CPU internal data memory failure 3.4409 15 Speed range switching and spindle

switching alarm3.4

408 16 RAM error 3.4408 19 Phase U current detector circuit excessive

offset3.4

408 20 Phase V current detector circuit excessiveoffset

3.4

945 24 Serial transfer data error 3.4945 25 Serial data transfer stopped 3.4409 26 Cs contouring control velocity detection


409 27 Position coder signal disconnected 3.4409 28 Cs contouring control position detection


409 29 Short-period overload 3.4409 30 01 PSM main circuit overcurrent 3.4409 31 Speed detection signal disconnected and

motor lock alarm3.4


3.4

409 33 05 DC link precharge failure 3.4409 34 Parameter data out of specification 3.4409 35 Too large gear ratio specified 3.4409 36 Error counter overflow 3.4409 37 Speed detector parameter error 3.4409 39 Cs contouring control one-rotation signal

detection error3.4


- 114 -

AlarmNo.


409 40 Cs contouring control one-rotation signalnot detected

3.4

409 41 Position coder one-rotation signaldetection error

3.4

409 42 Position coder one-rotation signal notdetected

3.4

409 43 Differential speed mode position codersignal disconnected

3.4

409 44 A/D conversion error 3.4409 46 Position coder one-rotation signal


409 47 Position coder signal error 3.4409 49 Excessive differential speed conversion

result3.4

409 50 Excessive speed command computedvalue during the synchronization control ofthe spindle

3.4

409 51 04 DC link undervoltage 3.4409 52 ITP signal error I 3.4409 53 ITP signal error II 3.4409 54 Overload current alarm 3.4409 55 Power line state error at spindle or speed

range switching3.4

409 56 Control circuit cooling fan stopped 3.4409 57 08 Excessive regenerated power 3.4409 58 03 PSM main circuit overload 3.4409 59 02 PSM cooling fan stopped 3.4

3. TROUBLESHOOTINGB-65165E/02 TROUBLESHOOTING AND ACTION

- 115 -

3 TROUBLESHOOTING AND ACTION

3. TROUBLESHOOTING AND ACTION TROUBLESHOOTING B-65165E/02

- 116 -

3.1 POWER SUPPLY MODULE

3.1.1 Power Supply Module (PSM, PSM-HV)

If an alarm occurs, in the STATUS display, the ALM LED lights red,and the two-digit 7-segment display indicates an alarm code.

The ALM LED lights red.

Indicates an alarm code (01 or above).

statusPILALM

3.1.1.1 Alarm code 01

For the PSM-5.5 to PSM-11

(1) MeaningThe main circuit power module (IPM) has detected an overload,overcurrent, or control supply voltage decrease.

(2) Cause and troubleshooting(a) Cooling fan failure

Check whether the cooling fan rotates normally.→ Replace the cooling fan.

(b) Dust buildup→ Clean the cooling system with a vacuum cleaner or

compressed air.(c) Overload

→ Examine the operating conditions.(d) Input supply voltage imbalance

→ Check the input power supply specification.(e) The specification of the AC reactor does not match the PSM

in use.→ Check the PSM and the specification of the AC reactor.

(f) IPM failure, or control supply voltage decrease of the powermodule (IPM)→ Replace the unit or IPM.


- 117 -

For PSM-15 to PSM-55, PSM-18HV to PSM-75HV

(1) MeaningOvercurrent flowed into the input of the main circuit.

(2) Cause and troubleshooting(a) Input supply voltage imbalance

→ Check the input power supply specification.(b) The specification of the AC reactor does not match the PSM

in use.→ Check the PSM and the specification of the AC reactor.

(c) IGBT defective→ Replace IGBT.


(1) Meaning(a) A cooling fan for the control circuit has stopped.(b) The control supply voltage has dropped.

(2) Cause and troubleshooting(a) Cooling fan broken

Check whether the cooling fan rotates normally.→ Replace it.

(b) Input voltage decrease→ Check the power supply.


(1) MeaningThe temperature of the main circuit heat sink has risenabnormally.

(2) Cause and troubleshooting(a) Cooling fan for the main circuit broken

Check whether the cooling fan for the main circuit rotatesnormally.→ Replace it.

(b) Dust accumulation→ Clean the cooling system with a vacuum cleaner or the

factory air blower.(c) Overload

→ Examine the operating conditions.


- 118 -


(1) MeaningIn the main circuit, the DC voltage (DC link) has dropped.

(2) Cause and troubleshooting(a) A small power dip has occurred.

→ Check the power supply.(b) Low input power supply voltage

→ Check the power supply specification.(c) The main circuit power supply may have been switched off

with an emergency stop state released.→ Check the sequence.


(1) Meaning(a) The input power supply is abnormal (open phase).(b) The main circuit capacitor was not recharged within the

specified time.

(2) Cause and troubleshooting(a) The input power supply has an open phase.

→ Check the connection.(b) Too many SVM and/or SPM units are connected.

→ Check the specification of the PSM.(c) The DC link is short-circuited.

→ Check the connection.(d) The recharge current limiting resistor is defective.

→ Replace the unit.


(1) MeaningThe input power supply is abnormal (open phase).


→ Check the connection.


- 119 -


(1) MeaningIn the main circuit, the DC voltage at the DC link is abnormallyhigh.

(2) Cause and troubleshooting(a) Excessive regenerated power

Regeneration is impossible. The PSM does not have asufficient capacity.→ Check the specification of the PSM.

(b) The output impedance of the AC power source is too high.→ Check the power source output impedance.(Normal if the voltage variation at maximum output time iswithin 7%)

(c) Regeneration circuit failure→ Replace the unit.

(d) The main circuit power supply may have been switched offwith an emergency stop state released.→ Check the sequence.

3.1.2 Power Supply Module (PSMV)

If an alarm occurs, in the STATUS display, the ALM LED lights red,and the two-digit 7-segment display indicates an alarm code.

The ALM LED lights red.


statusPILALM


- 120 -


(1) MeaningOvercurrent flowed into the DC link of the main circuit.

(2) Cause and troubleshooting(a) Thyristor or IGBT failure

→ Replace the thyristor or IGBT.(b) DC link short-circuit

→ Check the connection.(c) The specification of the AC reactor does not match the

PSMV in use.→ Check the PSMV and the specification of the AC

reactor.


(1) MeaningA cooling fan for the control circuit has stopped.

(2) Cause and troubleshooting(a) Cooling fan for the control circuit broken

Check whether the cooling fan for the control circuit rotatesnormally.→ Replace it.


(1) MeaningThe temperature of the main circuit heat sink has risenabnormally.

(2) Cause and troubleshooting(a) Cooling fan for the main circuit broken

Check whether the cooling fan for the main circuit rotatesnormally.→ Replace it.

(b) Dust accumulation→ Clean the cooling system with a vacuum cleaner or the

factory air blower.(c) Overload

→ Examine the operating conditions.


- 121 -



(2) Cause and troubleshooting(a) Low input power supply voltage

→ Check the power supply.


(1) MeaningThe main circuit capacitor was not recharged within the specifiedtime.

(2) Cause and troubleshooting(a) Too many SVM and/or SPM units are connected.

→ Check the specification of the PSMV.


(1) Meaning(a) The main circuit supply voltage is not fed.(b) Two or more input fuses of the AC reactor unit have blown.Note) This alarm is also output when a momentary power failure

occurs.

(2) Cause and troubleshooting(a) The input supply voltage is not fed to the main circuit.

→ Check the connection.(b) Two or more input fuses of the AC reactor unit have blown.

→ Replace the fuses.


(1) Meaning(a) The main circuit power supply has an open phase.(b) One input fuse of the AC reactor unit has blown.

(2) Cause and troubleshooting(a) The main circuit power supply has an open phase.

→ Check the connection.(b) One input fuse of the AC reactor unit has blown.

→ Replace the fuse.


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(1) MeaningThe frequency of the main circuit input power supply is abnormal.

(2) Cause and troubleshooting(a) Input power supply frequency error

→ Check the input power supply specification (50/60 Hz±1 Hz).


(1) MeaningThe input power supply of the main circuit has an imbalance.

(2) Cause and troubleshooting(a) The input supply voltage has an imbalance of 5% or more.

→ Check the input power supply specification.


(1) MeaningWhen the magnetic contactor is turned on, the phase sequence ofthe power supply cannot be determined.

(2) Cause and troubleshooting(a) Input power supply error

→ Check the input power supply specification.




The PSMV does not have a sufficient capacity.→ Check the specification of the PSMV.

(b) The output impedance of the AC power source is too high.→ Check the power source output impedance.(Normal if the voltage variation at maximum output time iswithin 7%)

(c) Regeneration circuit failure→ Replace the unit.


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(1) MeaningIn the main circuit, the voltage at the DC link is abnormally high.A fuse of the AC reactor unit may have blown.

(2) Cause and troubleshooting(a) An input fuse of the AC reactor unit has blown.

→ Replace the fuse.(b) Regeneration circuit failure



(1) MeaningThe offset of the current detection circuit of the main circuit DClink is excessive.

(2) Cause and troubleshooting(a) The current detection circuit of the main circuit DC link

malfunctions.→ Replace the power printed wiring board.

(b) The control printed circuit board or A/D converter is faulty.→ Replace the control printed circuit board.


(1) MeaningAn error occurred in internal parameter data transfer processing.

(2) Cause and troubleshooting(a) The control printed circuit board is faulty.

→ Replace the control printed circuit board.


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3.1.2.15 Alarm code A0

(1) Meaning(a) No ROM is installed.(b) The ROM is faulty.

(2) Cause and troubleshooting(a) The ROM is not installed correctly, or no ROM is installed.

Check if the ROM is removed from the socket or if a bentlead has caused a bad contact.→ Install the ROM correctly.

(b) ROM specification errorCheck the software version stamped on the ROM.→ Install a specified ROM correctly.

(c) Control printed circuit board failure→ Replace the control printed circuit board.


(1) MeaningThe RAM is faulty.




(1) MeaningA program is not operating normally.




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3.1.3 Power Supply Module (PSMR)

When an alarm is issued, the one-digit 7-segment LED indicates analarm code.



(1) MeaningA cooling fan for the control circuit has stopped.

(2) Cause and troubleshooting(a) Cooling fan for the control circuit broken

Check whether the cooling fan for the control circuit rotatesnormally.→ Replace it.



(2) Cause and troubleshooting(a) A small power dip has occurred.

→ Check the power supply.(b) Low input power supply voltage

→ Check the power supply specification.(c) The main circuit power supply may have been switched off

with an emergency stop state released.→ Check the sequence.


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(1) Meaning(a) The input power supply is abnormal (open phase).(b) The main circuit capacitor was not recharged within the

specified time.


→ Check the connection.(b) Too many SVM and/or SPM units are connected.

→ Check the specification of the PSM.(c) The DC link is short-circuited.

→ Check the connection.(d) The recharge current limiting resistor is defective.



(1) MeaningThe control supply voltage has dropped.

(2) Cause and troubleshooting(a) Input voltage decrease

→ Check the power supply.




The PSMR does not have a sufficient capacity.→ Check the specification of the PSMR.

(b) Regeneration circuit failure→ Replace the unit.


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(1) Meaning(a) The regenerative discharge unit is heated.(b) Regenerated power is excessive.

(2) Cause and troubleshooting(a) The regenerative resistance capacity is insufficient.

→ Check the specification of the regenerative resistance.(b) Excessive regenerated power

→ Decrease the frequency of acceleration/decelerationduring operation.

(c) The cooling fan of the regenerative discharge unit is faulty.→ Check the rotation state of the cooling fan.


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3.2 SERVO AMPLIFIER MODULE

3.2.1 Abnormal Current Alarms (8, 9, A, b, C, d, and E in the LEDdisplay)

(1) Make sure that the following parameters are set to the standardvalues. If they are not, abnormal current control is performed.

No. 1809 No. 1884 No. 1954(15-A),1955(15-B)No. 2004 No. 8X04 No. 2006 No. 8X06 No. 2011 No. 8X10

No. 1852 No. 1853 No. 1967 No. 1991No. 2040 No. 8X40 No. 2041 No. 8X41 No. 2074 No. 8X74 No. 2098 No. 8X98

(2) Remove the power line wires from the amplifier terminals, andrelease an emergency stop state.→ If an abnormal current alarm is issued, the servo amplifier

module needs to be replaced.→ If not, go to (3).

(3) Check for insulation between PE and each of the removed powerwires U, V, and W. If insulation is perfect, go to (4). If not,disconnect the power wires from the motor connector. Thencheck for insulation between PE and each of the U, V, and Wterminals on the motor.→ If there is a short-circuit between PE and U, V, or W of the

motor, replace the motor.→ If insulation is perfect, replace the power wires.

(4) Connect the power wires. Attach the check board (A06B-6071-K290) to connector JX5 to measure the waveform of the actualcurrent (IR and IS) in the servo amplifier module. Accelerate ordecelerate the motor, and measure the actual current (IR and IS) ofthe amplifier.→ If an abnormal current alarm occurs right after an emergency

stop state is released, go to (5).

Release an emergency stop state, and start the motor.Check whether the waveform of the actual current (IR and IS) is anormal sine wave.→ If normal, go to (5).→ If not, replace the amplifier.

(5) Check whether there is noise on the actual current (IR and IS)waveform.→ If there is no noise, replace the amplifier.→ If there is noise, use a shielding wire, and ground the

shielding, or take other countermeasures as required.


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(6) If still there is noise, a probable cause is a defective commandcable or a hardware failure in the CNC.


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3.2.2 IPM Alarms (8., 9., A., b., C., d., and E in the LED display; notethese codes are displayed simultaneously with a period.)

(1) Wait for about 10 minutes. Then release the emergency stop state.If an IPM alarm still occurs, go to (2).If the cause is IPM overheat, the IPM alarm will not recur. IPMoverheat can occur if the ambient temperature is high or the motoris overloaded. Check the operating condition.

(2) Remove the power wires from the amplifier terminals, and releasean emergency stop state.If the IPM alarm does not recur, go to (3).

If the IPM alarm recurs, the probable cause is the operation of theIPM protective function (for overcurrent or power failure).Replace the amplifier and see.→ If the IPM does not recur, go to (3).

(3) Check for insulation between PE and each of the removed powerwires U, V, and W. If insulation is perfect, go to (4). If not,disconnect the power wires from the motor connector. Thencheck for insulation between PE and each of the U, V, and Wterminals on the motor.→ If there is a short-circuit between PE and U, V, or W of the

motor, replace the motor.→ If insulation is perfect, replace the power wires.

(4) Connect the power wires. Attach the check board (A06B-6071-K290) to connector JX5 to measure the waveform of the actualcurrent (IR and IS) in the servo amplifier module. Accelerate ordecelerate the motor, and measure the actual current (IR and IS) ofthe amplifier.If an overcurrent alarm occurs right after an emergency stop stateis released, go to (5).Release an emergency stop state, and start the motor.Check whether the waveform of the actual current (IR and IS) is anormal sine wave.→ If normal, go to (5).→ If not, replace the amplifier.

(5) Check whether there is noise on the actual current (IR and IS)waveform.→ If there is no noise, replace the amplifier.→ If there is noise, use a shielding wire, and ground the

shielding, or take other countermeasures as required.

(6) If still there is noise, a probable cause is a defective commandcable or a hardware failure in the CNC.


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3.2.3 Control Power Supply Undervoltage Alarm (2 in the LEDdisplay)

(1) Check the three-phase input voltage to the amplifier.→ If the voltage is below 0.85 times the rating, adjust it to the

rated value.

(2) Replace the servo amplifier.

3.2.4 DC Link Undervoltage Alarm (5 in the LED display)

(1) Check the three-phase input voltage to the power supply module.→ If the voltage is below 0.85 times the rating, adjust it to the

rated value.

(2) Replace the servo amplifier module.

3.2.5 Fan Stopped Alarm (1 in the LED display)

(1) Make sure that the fan is not clogged up.

(2) Replace the servo amplifier module. Alternatively, replace thecooling fan inside the servo amplifier module according toChapter 4.

3.2.6 Current Conversion Error Alarm

(1) Exchange the command cable with the cable for the axis on whichno alarm has occurred.→ If the alarm occurs on the same axis, go to (3).→ If the alarm occurs on the new axis, go to (2).

(2) The command cable is defective. Replace it.


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(3) Exchange the command cables according to the diagram here.When switching the CNC on, do so in an emergency stop state.→ If the alarm recurs on the same axis, go to (5).→ If the alarm occurs on the other axis, go to (4).

CNCAlarmed axis

(L-axis)

M-axis

L-axis

Command cable

Servo amplifier

Normal axis(M-axis)

(4) The servo amplifier is defective.

(5) The module for current conversion in the CNC is defective.


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3.3 SERVO SOFTWARE

If a servo alarm is issued, an alarm message is output, and details of thealarm are also displayed on the servo adjustment screen or thediagnosis screen. Using the alarm identification table given in thissection, determine the alarm, and take a proper action. With a CNC ofthe i series, detailed alarm messages are displayed. So, from theinformation in the alarm identification table, select a proper action.

3.3.1 Servo Adjustment Screen

Series 0-CPress the key several times to display the servo setting screen.

Pressing the keys displays the servo screen.

If the servo setting screen does not appear, specify the followingparameter, then switch the CNC off and on again:

#7 #6 #5 #4 #3 #2 #1 #0

0389 SVS

SVS (#0)=0 (to display the servo setting screen)

Series 15-A/B, 15iPress the key several times to cause the servo setting screen toappear. Then press the key, and the servo adjustment screen willappear.

Series 16, 18, 20, 21 → [SYSTEM] → [ ] → [SV-PRM] → [SV-TUN]

If the servo setting screen does not appear, specify the followingparameter, then switch the CNC off and on again.

#7 #6 #5 #4 #3 #2 #1 #0

3111 SVS

SVS (#0)=1 (to display the servo setting screen)

SERVICE

SYSTEM

PAGE

PAGE

PARAM


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Alarm detailinformation

<1><2><3><4><5>

Fig. 3.3.1(a) Servo adjustment screen

<1>

<2>

<3>

<4>

<5>

<6>

<7>

<8>

<9>

Alarm detailinformation

Fig. 3.3.1(b) Series 15i servo alarm screen

The table below indicates the names of the alarm bits.

Table 3.3.1 List of alarm bit names

#7 #6 #5 #4 #3 #2 #1 #0

<1> Alarm 1 OVL LVA OVC HCA HVA DCA FBA OFA

<2> Alarm 2 ALD EXP

<3> Alarm 3 CSA BLA PHA RCA BZA CKA SPH

<4> Alarm 4 DTE CRC STB PRM

<5> Alarm 5 OFS MCC LDM PMS FAN DAL ABF

<6> Alarm 6 SFA

<7> Alarm 7 OHA LDA BLA PHA CMA BZA PMA SPH

<8> Alarm 8 DTE CRC STB SPD

<9> Alarm 9 FSD SVE IDW NCE IFE

NOTEThe empty fields do not represent alarm codes.


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3.3.2 Diagnosis Screen

The alarm items of the servo adjustment screen correspond to thediagnosis screen numbers indicated in the table below.

Table 3.3.2 Correspondence between the servo adjustment screen anddiagnosis screen

Alarm No. Series 0-C Series 15-A, B, 15i Series 16, 18, 20, 21 PowerMate-E<1> Alarm 1<2> Alarm 2<3> Alarm 3<4> Alarm 4<5> Alarm 5<6> Alarm 6<7> Alarm 7<8> Alarm 8<9> Alarm 9

No 720 to 723730 to 733760 to 763770 to 773

No 3014 + 20(X-1)3015 + 20(X-1)3016 + 20(X-1)3017 + 20(X-1)

No 200201202203204205206

No 27112710271327122714

Fig. 3.3.2 Series 16i diagnosis screen

<1>

<2>

<3>

<4>

<5>

<7>

<8>


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3.3.3 Overload Alarm (Soft Thermal, OVC)

(Alarm identification method)

#7 #6 #5 #4 #3 #2 #1 #0


(Action)

(1) Make sure that the motor is not vibrating.⇒ If a motor vibrates, the current flowing in it becomes more

than necessary, resulting in an alarm.

(2) Make sure that the power line to the motor is connected correctly.⇒ If the connection is incorrect, an abnormal current flows in

the motor, resulting in an alarm.

(3) Make sure that the following parameters are set correctly.⇒ An overload alarm is issued based on the result of calculation

of these parameters. Be sure to set them to the standard values.For details of the standard values, refer to the parametermanual (B-65150E).


2062 1062


2063 1063

1893 8x65 Overload protection coefficient (OVCLMT)

2065 1065

(4) Attach the check board (A06B-6071-K290) to connector JX5 tomeasure the waveform of the actual current (IR and IS) of theservo amplifier module. Start the motor and measure the actualcurrent (IR and IS).⇒ If the actual current exceeds 1.4 times the rated current, the

constant for the acceleration/deceleration duration is toosmall, or the load on the machine is too heavy for the capacityof the motor.

⇒ If the actual current exceeds 1.4 times the rated current duringnormal operation, the load on the machine is too heavy for thecapacity of the motor.


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3.3.4 Feedback Disconnected Alarm

(Alarm identification method)#7 #6 #5 #4 #3 #2 #1 #0


<2> Alarm 2 ALD EXP

<6> Alarm 6 SFA

FBA ALD EXP SFA Alarm description Action

1 1 1 0 Hard disconnection (separate phase A/B) 1

1 0 0 0 Soft disconnection (closed loop) 2

1 0 0 1 Soft disconnection (α pulse coder) 3

(Action)Action 1: This alarm is issued when a separate phase A/B scale is

used. Check if the phase A/B detector is connectedcorrectly.

Action 2: This alarm is issued when the position feedback pulsevariation is small relative to the velocity feedback pulsevariation. This means that this alarm is not issued when asemi-full is used. Check if the separate detector outputsposition feedback pulses correctly. If position feedbackpulses are output correctly, it is considered that the motoralone is rotating in the reverse direction at the start ofmachine operation because of a large backlash between themotor position and scale position.

#7 #6 #5 #4 #3 #2 #1 #0

1808 8X03 TGAL

2003 1003

TGAL (#1) 1: Uses the parameter for the soft disconnection alarmdetection level.

1892 8X64 Soft disconnection alarm level

2064 1064

Standard setting 4: Alarm issued for a 1/8 rotation of the motor.Increase this value.

Action 3: This alarm is issued when synchronization between theabsolute position data sent from the built-in pulse coder andphase data is lost. Turn off the power to the CNC, thendetach the pulse coder cable then attach it again. If thisalarm is still issued, replace the pulse coder.


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3.3.5 Overheat Alarm

(Alarm identification method)#7 #6 #5 #4 #3 #2 #1 #0


<2> Alarm 2 ALD EXP

OVL ALD EXP Alarm description Action

1 1 0 Motor overheat 1

1 0 0 Amplifier overheat 1

(Action)Action 1: If this alarm is issued after a long-time of continuous

operation, it is considered that the motor and amplifier areoverheated. Stop operation for a while, then make a check.If this alarm is still issued after the power is off for about 10minutes then is turned on again, the thermostat isconsidered to be faulty. If this alarm is issued intermittently,increase the time constant or increase stop time in theprogram to suppress the rise in temperature.

3.3.6 Invalid Servo Parameter Setting Alarm

The invalid servo parameter setting alarm is issued when a setting outof the specifiable range is specified, or an overflow has occurred in aninternal calculation. When an invalid parameter is detected on theservo side, alarm 4 #4 (PRM) = 1 results.(Alarm identification method)

#7 #6 #5 #4 #3 #2 #1 #0


For details and action required when the invalid servo parameter settingalarm is issued on the servo side, refer to the parameter manual (B-65150E) edition 4 and up.

(Reference information)Method of checking details of an invalid parameter detected on theservo side

(For Series 15i)A number is indicated in the item "Details of invalid parameter" onthe servo alarm screen (Fig. 3.3.1(b)).

(For Series 16i, 18i, 21i, and Power Mate i)A number is indicated in No. 352 of the diagnosis screen.


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3.3.7 Alarms Related to Pulse Coder and Separate Serial Detector

(Bits for alarm identification)

#7 #6 #5 #4 #3 #2 #1 #0


<2> Alarm 2 ALD EXP

<3> Alarm 3 CSA BLA PHA RCA BZA CKA SPH



<6> Alarm 6 SFA

<7> Alarm 7 OHA LDA BLA PHA CMA BZA PMA SPH

<8> Alarm 8 DTE CRC STB SPD

<9> Alarm 9 FSD SVE IDW NCE IFE

(1) For a built-in pulse coderAn alarm is determined from the bits of alarms 1, 2, 3, and 5. Thetable below indicates the meaning of each bit.

Alarm 3 Alarm 5 1 Alarm 2CSA BLA PHA RCA BZA CKA SPH LDM PMA FBA ALD EXP

Alarm description Action

1 Soft phase alarm 21 Clock alarm (serial A)

1 Zero battery voltage 11 0 0 0 Speed error (serial A)1 1 1 0 Count error alarm (α pulse coder) 2

1 Phase alarm (serial A) 21 Battery voltage decrease (warning) 1

1 Checksum alarm (serial A)1 Pulse error alarm (α pulse coder)

1 LED error alarm (α pulse coder)

NOTEAn alarm for which no action number is given isconsidered to be caused by a pulse coder failure.Replace the pulse coder.


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(2) For a separate serial detectorAn alarm is determined from the bits of alarm 7. The table belowindicates the meaning of each bit.

Alarm 7OHA LDA BLA PHA CMA BZA PMA SPH

Alarm description Action

1 Soft phase alarm 21 Pulse error alarm

1 Zero battery voltage 11 Count error alarm 2

1 Phase alarm 2

1Battery voltage decrease(warning)

1

1 LED error alarm1 Separate detector alarm

NOTEAn alarm for which no action number is given isconsidered to be caused by a detector failure.Replace the detector.

(Action)Action 1: Battery-related alarms

Check if a battery is connected. When the power is turnedon for the first time after a battery is connected, the zerobattery voltage alarm is issued. In such a case, turn off thepower, then turn on the power again. If the alarm is stillissued, check the battery voltage. If the battery voltagedecrease alarm is issued, check the voltage, and replace thebattery as required.

Action 2: Alarms that may be issued for noiseIf an alarm is issued intermittently or after emergency stopcancellation, noise is probably the cause. So, provide noiseprotection. If the same alarm is still issued after noiseprotection is provided, replace the detector.


- 141 -

(3) Alarms related to serial communicationAn alarm is determined from the bits of alarms 4 and 8.

Alarm 4 Alarm 8DTE CRC STB DTE CRC STB

Alarm description

11

1Serial pulse coder communication alarm

11

1Separate serial pulse coder communication alarm

Action: Serial communication is not performed correctly. Check ifthe cable is connected correctly and is not broken. If CRCor STB is issued, noise may be the cause. So, provide noiseprotection. If CRC or STB is always issued after the poweris turned on, the pulse coder or amplifier control board (iseries) or the pulse module (i series) may be faulty.


- 142 -

3.3.8 Other Alarms

(Alarm identification method)

#7 #6 #5 #4 #3 #2 #1 #0


OFS DAL ABF Alarm description Action

1 Feedback mismatch alarm 1

1 Excessive semi-full error alarm 2

1 Current offset error alarm 3

(Action)Action 1: This alarm is issued when the move direction of the position

detector is opposite to the move direction of the speeddetector. Check the rotation direction of the separatedetector. If the rotation direction of the separate detector isopposite to the rotation direction of the motor, take thefollowing action:For a phase A/B detector: Reverse the connections of A andA.For a serial detector: Reverse the setting of the signal

direction of the separate detector.

#7 #6 #5 #4 #3 #2 #1 #0

1960 - RVRSE

2018 -

RVRSE (#0) Reverses the signal direction of the separate detector.0: Does not reverse the signal direction of the separate detector.1: Reverses the signal direction of the separate detector.

If a large distortion exists between the motor and separate detector, thisalarm may be issued in the case of abrupt acceleration/ deceleration. Insuch a case, modify the detection level.

#7 #6 #5 #4 #3 #2 #1 #0

1741 - RNLV

2201 -

RNLV (#1) Modifies the feedback mismatch alarm detection level.1: Detected with 1000 min-1 or more0: Detected with 600 min-1 or more


- 143 -

Action 2: This alarm is issued when the difference between the motorposition and separate detector position exceeds theexcessive semi-full error level. Check if the conversionefficient for dual position feedback is set correctly. If theconversion efficient is set correctly, increase the alarm level.If this alarm is still issued after the level is modified, checkthe connection direction of the scale.

1971 - Dual position feedback conversion coefficient (numerator)

2078 -

1972 - Dual position feedback conversion coefficient (denominator)

2079 -

Conversion coefficient =

Number of feedback pulses per motorrevolution (detection unit)

1,000,000

1729 - Dual position feedback semi-full error level

2118 -

[Setting] Detection unit. When 0 is set, no detection is made.

Action 3: The current offset value of the current detector (equivalentto the current value in the emergency stop state) isabnormally high. If this alarm is still issued after the poweris turned off then back on, the current detector is faulty. Forthe i series, replace the control board of the amplifier. Forseries other than the i series, replace the servo-relatedmodules on the CNC.


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3.4 SPINDLE AMPLIFIER MODULE

This section uses the following format for describing parameternumbers:

FS0 FS15i FS16i/16, PM-D/F Description6582 3082 4082 Setting of acceleration/deceleration

time

The items of FS15i cover FS15. For a parameter number of FS15different from FS15i, the item is described separately.FS18i, 20i, 21i, PMi-D, 18, 20, and 21 are covered by the items ofFS16i/16.

3.4.1 α Series and α (HV) Series Spindle Amplifier Module

If an alarm occurs in the spindle amplifier module, the ALM LEDlights red in the STATUS display, and the two-digit 7-segment LEDsindicate the alarm code.

The ALM LEDlights red.

Alarm code A0, A1, 01 or above is indicated.

status

3.4.1.1 Alarm codes A, A0 to A4, and other Ax (x for representing anarbitrary number)

A, A0 : The SPM control program is not operating.A1, A2, Ax : An error was detected in SPM control program

processing.A3 : An error was detected in the clock of the SPM control

printed circuit board.A4 : A parity error was detected in the SRAM on the SPM

control printed circuit board.

(1) If an alarm is issued when the power to the PSM is turned on(a) The ROM is not installed correctly, no ROM is installed, or

the ROM specification is incorrectIf the ROM on the SPM control printed circuit board is oncereplaced, check the following:<1> Installation direction<2> Occurrence of a bent lead and so forth<3> Matching of the ROM series with the unit. Check

Subsection 2.2.3 of Part I.(b) Printed circuit board failure

Replace the SPM or SPM control printed circuit board.


- 145 -

(2) If an alarm is issued during motor activation(a) Influence of noise

Referring to Chapter 5, "Installation," of "FANUC SERVOAMPLIFIER α series Descriptions (B-65162E)," check theGND-related wiring. If the signal cable of the spindle sensoris bundled with the power line of the servo motor, separatethem from each other.


The inside temperature of the motor is higher than the specifiedtemperature.

(1) If this alarm is issued during cutting (the motor temperature ishigh)(a) Check the cooling state of the motor.

<1> If the cooling fan of the spindle motor is stopped, checkthe power supply of the cooling fan. If the cooling fanis still inoperative, replace it with a new one.

<2> When a liquid-cooled motor is used, check the coolingsystem.

<3> When the ambient temperature of the spindle motor ishigher than the specified temperature, lower theambient temperature to satisfy the specification.

(b) If this alarm is issued even when the load meter fluctuates ina limited range, check the short-period rating. If thespecified value is exceeded, reduce the load.

(2) If this alarm is issued under a light load (the motor temperature ishigh)(a) When the frequency of acceleration/deceleration is too high

Set such a use condition that the average including output atacceleration/deceleration does not exceed the continuousrating.

(b) The parameters specific to the motor are not set correctly.Refer to "FANUC AC SPINDLE MOTOR α seriesParameter Manual (B-65160E)."

(3) If this alarm is issued when the motor temperature is low(a) The spindle sensor feedback cable is faulty.

Replace the cable.(b) The SPM control printed circuit board is faulty.

Replace the SPM control printed circuit board or SPM.(c) The motor (internal thermostat) is faulty.

Replace the motor.


- 146 -


The actual motor speed is largely deviated from the commanded speed.

(1) If this alarm is issued during motor acceleration(a) The parameter setting of acceleration/deceleration time is

incorrect.In the following parameter, set the value equivalent to thespindle inertia plus some margin:

FS0 FS15i FS16i/16, PM-D/F Description6582 3082 4082 Setting of acceleration/deceleration

time

(b) The parameter for the speed detector is not set correctly.Referring to "FANUC AC SPINDLE MOTOR α seriesParameter Manual (B-65160E)," set a correct value.

(2) If this alarm is issued during cutting(a) The cutting load has exceeded the motor output power.

Check the load meter indication, and review the usecondition.

(b) The parameters for output restriction are not set correctly.Check that the settings of the following parameters satisfythe machine and motor specifications:

FS0 FS15i FS16i/16, PM-D/F Description6528 3028 4028 Output restriction pattern setting6529 3029 4029 Output restriction value

(c) The parameters specific to the motor are not correctly.Refer to "FANUC AC SPINDLE MOTOR α seriesParameter Manual (B-65160E)."


- 147 -


The fuse of the DC link has blown. (The voltage at the DC link isinsufficient.) This alarm is checked when emergency stop is cancelled.

(1) If this alarm is issued during spindle operation (rotation)The fuse of the DC link inside the SPM has probably blown. So,replace the SPM. This alarm may be caused by the following:<1> Power line short-circuited to ground<2> Motor winding short-circuited to ground<3> IGBT or IPM module failure

(2) If the PSM input magnetic contactor is once turned on and isturned off with this alarm when emergency stop is cancelled or theCNC is started (When two spindles are connected, the magneticcontactor may not be turned off.)(a) The DC link wire is not connected.

Check the DC link (TB1) wiring for errors.(b) A cable is faulty.

Pin 9 of the interface cable (JX1B-JX1A) between the PSMand SPM may be short-circuited to 0V. Replace the cable.

(c) The fuse of the DC link inside the SPM has blown.Replace the SPM.


It is detected that the 3-phase input to the main circuit of the PSM hasan open phase.

(1) If the PSM indicates alarm code 6Troubleshoot according to the description of alarm code 6provided in Section 3.1 of Part II.

(2) If the PSM indicates no alarm(a) A cable is faulty.

The connection cable between the PSM (JX1B) and SPM(JX1A) is faulty. Replace the cable.

(b) The SPM is faulty.Replace the SPM or SPM control printed circuit board.


- 148 -


The motor rotates at a speed exceeding 115% (standard setting) of themaximum allowable speed.

(1) If this alarm is issued during spindle synchronizationIf the activation (SFR, SRV) of the motor on one side is turned offthen back on in the spindle synchronization mode, the spindlemotor is accelerated to correct a position error built up during theperiod, thus causing this alarm. Modify the ladder so that SFRand SRV are not turned off in the spindle synchronization mode.

(2) If this alarm is issued while the motor is stopped(a) The connection cable of the spindle sensor is faulty.

Check if the cable of the spindle sensor built into the motor(BZ sensor when a built-in motor is used) is disconnected,and replace the cable as required.

(b) The spindle sensor built into the motor is not adjustedcorrectly.Adjust the sensor according to Subsection 4.3.4 of Part I.


The temperature of the heat sink of the SPM main circuit has risen tothe set value. This alarm is issued for SPM-15 and up or SPM-15HVand later. With SPM-2.2 to SPM-11 and SPM-11HV, however, alarmcode 12 is issued for the same cause.

(1) If this alarm is issued during cutting (the heat sink temperature ishigh)(a) If this alarm is issued when the load meter reads a value

below the continuous rating of the amplifier, check thecooling state of the heat sink.<1> If the cooling fan is stopped, check the power supply

(connector CX1A/B). If the cooling fan is stillinoperative, replace the SPM with a new one.

<2> When the ambient temperature is higher than thespecified temperature, lower the ambient temperatureto satisfy the specification.

(b) When this alarm is issued because the load meter reads avalue above the continuous rating of the amplifier, improvethe use method.


- 149 -

(c) When the heat sink on the back of the amplifier is too dirty,clean the heat sink, for example, by blowing air. Considerthe use of a structure that prevents the heat sink from beingdirectly exposed to coolant.

(2) If this alarm is issued under a light load (the heat sink temperatureis high)(a) When the frequency of acceleration/deceleration is too high

Set such a use condition that the average including output atacceleration/deceleration does not exceed the continuousrating.

(b) The parameters specific to the motor are not set correctly.Refer to "FANUC AC SPINDLE MOTOR α seriesParameter Manual (B-65160E)."

(3) If this alarm is issued when the heat sink temperature is lowReplace the SPM.


The PSM detected that the DC link voltage was excessively high.






- 150 -


An excessively large current flowed into the DC link of the maincircuit.

With SPM-2.2 to SPM-11 and SPM-11HV, this alarm indicates that thepower module (IPM) of the main circuit detected an error such as anexcessive load, overcurrent, or low control supply voltage.

(1) If this alarm is issued on SPM-2.2 to SPM-11 and SPM-11HVCheck alarm code 09 as well.

(2) If this alarm is issued immediately after a spindle rotationcommand is specified(a) The motor power line is faulty.

Check for a short circuit between motor power lines andshort-circuit to ground, and replace the power line asrequired.

(b) The motor winding has an insulation failure.If the motor is short-circuited to ground, replace the motor.

(c) The parameters specific to the motor are not set correctly.Refer to "FANUC AC SPINDLE MOTOR α seriesParameter Manual (B-65160E)."

(d) The SPM is faulty.A power element (IGBT, IPM) may be destroyed. Replacethe SPM.

(3) If this alarm is issued during spindle rotation(a) A power element is destroyed.

A power element (IGBT, IPM) may be destroyed. Replacethe SPM.If the amplifier setting condition is not satisfied, or cooling isinsufficient because the heat sink is dirty, the powerelements may be destroyed.When the heat sink on the back of the amplifier is too dirty,clean the heat sink, for example, by blowing air. Considerthe use of a structure that prevents the heat sink from beingdirectly exposed to coolant.For the setting condition, refer to "FANUC SERVOAMPLIFIER α series Descriptions (B-65162E)."

(b) The parameters specific to the motor are not set correctly.Referring to "FANUC AC SPINDLE MOTOR α seriesParameter Manual (B-65160E)," check the parametersspecific to the motor.

(c) Speed sensor signal errorCheck the spindle sensor signal waveform according toSubsection 4.3.4 of Part I. If an error is found, make anadjustment or replace the detector as required.


- 151 -


The memory inside the CPU is faulty. A check is made when the poweris turned on.

If this alarm is issued, replace the SPM or SPM control printed circuitboard.


In output switching control or spindle switching control, the switchingoperation sequence was not executed correctly.This alarm is issued if one second or more elapses from the transition ofa switch request signal (SPSL or RSL) until a power line state checksignal (MCFN, MFNHG, RCH, or RCHHG) makes a transition.

Troubleshooting when this alarm is issued(a) The magnetic contactor (switch unit) for power line

switching is faulty.If the contact is inoperative, check the power supply of themagnetic contactor. If the magnetic contactor is stillinoperative, replace the magnetic contactor.

(b) The I/O unit or wiring for checking the contact of themagnetic contactor is faulty.If a defect is found in the I/O unit or wiring, replace the I/Ounit or wiring.

(c) The sequence (ladder) is incorrect.Modify the sequence so that switching is completed within 1second. For details of the signals, refer to Chapter 10,"Interface Signals," in "FANUC SERVO AMPLIFIER α seriesDescriptions (B-65162E)."


The memory (RAM) is faulty. A check is made when the power isturned on.



- 152 -

3.4.1.13 Alarm codes 19 and 20

The offset voltage of the phase U (alarm code 19) or phase V (alarmcode 20) current detection circuit is excessively high. A check is madewhen the power is turned on.

If this alarm is issued, replace the SPM. If this alarm is issuedimmediately after the SPM control printed circuit board is replaced,check the plugging of the connectors (CN1, CN3, and CN4) betweenthe power unit and SPM control printed circuit board.


The power to the CNC is turned off. (This symptom does not representan error.) Serial communication data transferred between the CNC andspindle amplifier module contains an error.

Troubleshooting when this alarm is issued(a) Noise occurring between the CNC and spindle amplifier

module (connected via an electric cable) caused an error incommunication data.Check the condition for maximum wiring length.Referring to Chapter 9, "Connection," in "FANUC SERVOAMPLIFIER α series Descriptions (B-65162E)," check thecondition of electric cable connection.

(b) Noise exercises an influence because a communication cableis bundled with the power line.If a communication cable is bundled with the power line forthe motor, separate them from each other.

(c) A cable is faulty.Replace the cable.If an optical I/O link adapter is used, the optical link adapteror optical cable may be faulty.

(d) The SPM is faulty.Replace the SPM or SPM control printed circuit board.

(e) The CNC is faulty.Replace the board or module related to the serial spindle.


Serial communication between the CNC and spindle amplifier modulestopped.

Troubleshoot as in the case of alarm code 24.


- 153 -


The sensor signal (for speed control) for Cs contour control has anerror.<1> When a high-resolution magnetic pulse coder is used with SPM

TYPE2 (using both of the JY2 and JY5 connectors), the amplitudeof the sensor signal on the high-resolution side (1000 λ) of thehigh-resolution magnetic pulse coder built into the motor on theJY2 side is excessively small.

<2> When a built-in motor is used with SPM TYPE2 (using only theJY5 connector), the amplitude of the sensor signal on the high-resolution side (1000 to 3000 λ) of the high-resolution magneticpulse coder is excessively small.

<3> When SPM TYPE4 is used, the amplitude of the spindle sensor(MZ sensor) built into the motor connected to JY2 is excessivelysmall.

(1) If this alarm is issued when the motor is deactivated(a) The setting of a parameter is incorrect.

Referring to "FANUC AC SPINDLE MOTOR α seriesParameter Manual (B-65160E)," check the parameter forsensor setting.

(b) The sensor is not adjusted correctly, or the cable isdisconnected.Adjust the sensor signal according to Subsection 4.3.4 ofPart I of this manual. If the signal is not observed, replacethe cable and sensor.

(c) The printed circuit board is faulty.Replace the SPM or SPM control printed circuit board.

(2) If this alarm is issued when the cable is moved (as in the casewhere the spindle moves)(a) The connector has a bad contact, or the cable is

disconnected.The conductor may be broken. Replace the cable. If coolanthas penetrated into the connector, clean the connector.


- 154 -

(3) If this alarm is issued when the motor rotates(a) The shielding of the cable between the preamplifier or MZ

sensor (for TYPE4) and the SPM is faulty.Referring to Chapter 9, "Connection," in "FANUC SERVOAMPLIFIER α series Descriptions (B-65162E)," check theshielding of the cable.

(b) The signal cable is bundled with the servo motor power line.If the cable between the preamplifier or MZ sensor (forTYPE4) and the SPM is bundled with the servo motor powerline, separate them from each other.

(c) Improve the cable routing between the motor andpreamplifier.If the cables (including those within a terminal box)extending from the motor to the preamplifier are close to thepower line, separate the cables from the power line.

SPM

Sen

sor

The cable isconnected to thepin specified in thespecifications onthe sensor side.

The cable isconnected topin 10 on theSPM side.

Shielded cable


- 155 -


The sensor signal (position coder signal) for position control isabnormal.<1> The signal of the α position coder is disconnected (for all types).<2> When an MZ or BZ sensor is used with SPM TYPE1 (using the

JY2 connector), the amplitude of the sensor signal is excessivelysmall.

<3> When a separate built-in sensor is used with SPM TYPE2 (usingthe JY2 and JY5 connectors), the amplitude of the spindle sensorsignal on the JY2 side is excessively small.

<4> When a high-resolution magnetic pulse coder is used with SPMTYPE2 (using the JY2 and JY5 connectors), the amplitude of thesensor signal on the low-resolution side (128 to 384 λ) on the JY5side is excessively small.

<5> When SPM TYPE4 is used, the amplitude of the spindle sensorsignal connected to JY5 is excessively small.

(1) If this alarm is issued when the motor is deactivated(a) The setting of a parameter is incorrect.

Referring to Chapter 2 of "FANUC AC SPINDLE MOTORα series Parameter Manual (B-65160E)," check theparameter for sensor setting.

(b) The cable connected to JY4 is disconnected. (α positioncoder)When the α position coder is used, adjustment is impossible.Replace the cable.

(c) The sensor is not adjusted correctly.Adjust the sensor signal according to Subsection 4.3.4 ofPart I of this manual. If the sensor signal cannot be adjustedcorrectly, or the sensor signal is not observed, replace theconnection cable and sensor.




SPMS

enso

r

Connected to the frameground via a cable clamp.

Shielded cable

α position coder


- 156 -

(3) If this alarm is issued when the motor rotates(a) The shielding of the cable between the sensor and the SPM is

faulty.Referring to Chapter 9, "Connection," in "FANUC SERVOAMPLIFIER α series Descriptions (B-65162E)," check theshielding of the cable.

(b) The signal cable is bundled with the servo motor power line.If the cable between the sensor and the SPM is bundled withthe servo motor power line, separate them from each other.


The sensor signal (for position control) for Cs contour control isabnormal.<1> When a high-resolution magnetic pulse coder is used with SPM

TYPE2 (using both of the JY2 and JY5 connectors), the amplitudeof the sensor signal on the high-resolution side (1000 to 3000 λ) ofthe high-resolution magnetic pulse coder on the JY5 side isexcessively small.

<2> When SPM TYPE4 is used, the amplitude of the spindle sensor(MZ sensor) built into the motor connected to JY5 is excessivelysmall.


SPMS

enso

r



Shielded cable

Other sensors


- 157 -


An excessive load (standard setting: load meter reading of 9 V) hasbeen applied continuously for a certain period (standard setting: 30seconds).

(1) If this alarm is issued during cuttingCheck the load meter, and review the cutting condition.

(2) If this alarm is issued during a stop(a) The spindle is locked.

Check the sequence to see if the spindle is locked when acommand for very slow movement is specified or orientationis specified for the spindle.

(3) If the spindle does not rotate as specified (the spindle rotates at avery low speed) and this alarm is issued(a) The setting of a parameter is incorrect.


(b) The phase sequence of the motor power line is incorrect.(c) The feedback cable of the motor has a problem.

Check if the phase A/B signals are connected correctly.(d) The feedback cable of the motor is faulty.

Rotate the motor manually to see if a speed is indicated in theitem of motor speed on the CNC diagnosis screen or on thespindle check board. If no speed indication is provided,replace the cable or spindle sensor (or motor).

(4) If the spindle does not rotate as specified (the spindle does notrotate at all) and this alarm is issued(a) The power line is abnormal.

Check if the motor power line is connected normally. Ifspindle switching or output switching is performed, check ifthe magnetic contactor is on.

(b) The SPM is faulty.Replace the SPM.


- 158 -


An excessively large current is detected at the input of the 3-phase maincircuit of the PSM.






The motor failed to rotate as specified, and has stopped or is rotating ata very low speed.

(1) If the motor rotates at a very low speed and this alarm is issued(a) The setting of a parameter is incorrect.


(b) The motor phase sequence is incorrect.Check if the motor phase sequence is correct.

(c) The feedback cable of the motor has a problem.Check if the phase A/B signals are connected correctly.

(d) The feedback cable of the motor is faulty.Rotate the motor manually to see if a speed is indicated in theitem of motor speed on the CNC diagnosis screen or on thespindle check board. If no speed indication is provided,replace the cable or spindle sensor (or motor).

(2) If the motor does not rotate at all and this alarm is issued(a) The sequence for locking the spindle is incorrect.

Check the sequence to see if the spindle is locked.(b) The power line is faulty.

Check if the power line is connected to the motor correctly.If spindle switching or winding switching is performed,check if the magnetic contactor is on.

(c) The SPM is faulty.Replace the SPM.


- 159 -


LSI memory for serial communication is abnormal. A check is madewhen the power is turned on.



The PSM could not be charged within a specified time.PSM input has an open phase.






Parameter data outside the specifiable range was set.

Troubleshooting when this alarm is issuedConnect the spindle check board.The spindle check board displays "AL-34" and "F-xxx"alternately. "F-xxx" indicates a parameter number outside thespecifiable range. For the correspondence between the CNCparameter numbers and "F-xxx," refer to "FANUC AC SPINDLEMOTOR α series Parameter Manual (B-65160E)."


- 160 -


The gear ratio set in a parameter exceeds the value range allowable forinternal processing. This alarm is issued with a parameter related toorientation of magnetic sensor type.

Troubleshooting when this alarm is issued(a) The gear ratio set in a parameter is incorrect.

Check if an excessively large gear ratio is set.

FS0 FS15i FS16i/16, PM-D/F Description6556

to6559

3056to

3059

4056to

4059

Gear ratio between the spindle andmotor

6560to

6563

3060to

3063

4060to

4063

Position gain at orientation


The error counter overflowed.

(1) The setting of a parameter is incorrect.(a) The gear ratio set in a parameter is incorrect.

Check if an excessively large gear ratio is set.(b) The setting of a position gain is incorrect.

If the gear ratio data is correct, increase the position gain.(c) The setting of a position detector mounting direction or the

setting of spindle and motor rotation directions is incorrect.


to6559

3056to

3059

4056to

4059


6565to

6568

3065to

3068

4065to

4068

Position gain in the servomode/spindle synchronization

6569to

6572

3069to

3072

4069to

4072

Position gain in Cs contour control

(2) Sequence error(a) Check if the motor is deactivated (by turning off SFR/SRV)

in a position control mode (rigid tapping, Cs contour control,or spindle synchronization).


- 161 -


After emergency stop signal input, the motor is accelerated withoutbeing decelerated. This alarm is issued also when the motor is notdeactivated (the motor is not decelerated completely) when theacceleration/deceleration time (initial parameter setting: 10 seconds)has elapsed after emergency stop signal input.

Troubleshooting when this alarm is issued(a) The parameter setting of the speed detector is incorrect.

Referring to Chapter 1 in "FANUC AC SPINDLE MOTORα series Parameter Manual (B-65160E)," set a correct time.

(b) The parameter setting of an acceleration/deceleration time isnot proper.Check the parameter-set value and actual acceleration/deceleration time, then set an actual acceleration/deceleration time plus some margin.

FS0 FS15i FS16i/16, PM-D/F Description6582 3082 4082 Acceleration/deceleration time

setting


- 162 -

3.4.2 Alarm Code 39

The position where the one-rotation signal for Cs contour control isgenerated is incorrect. This alarm is not issued when the parameterindicated below is not set.<1> When SPM TYPE2 is used, phase A/B/Z on the high-resolution

(1000 to 3000 λ) side of the high-resolution magnetic pulse coderon the spindle side has a problem.

<2> When SPM TYPE4 is used, the spindle sensor connected to JY5 isfaulty.Troubleshoot as in the case of alarm code 41.

FS0 FS15i FS16i/16, PM-D/F Description6516#5 3016#5 4016#5 Whether the function for detecting

the one-rotation signal of thedetector for Cs contour control isprovided1: The function is provided.

Troubleshooting when this alarm is issued (at the time of referenceposition return on the Cs axis)

(a) The setting of a parameter is incorrect.Referring to Chapter 2 in "FANUC AC SPINDLE MOTORα series Parameter Manual (B-65160E)," check theparameter for sensor setting.

(b) The sensor is not adjusted correctly.Adjust the sensor according to Subsection 4.3.4 of Part I ofthis manual. If the signal is not observed, replace the sensor.

(c) The shielding of the cable between the preamplifier andSPM is faulty.Referring to Chapter 9, "Connection," in "FANUC SERVOAMPLIFIER α series Descriptions (B-65162E)," check theshielding of the cable.

(d) The signal cable is bundled with the servo motor power line.If the cable between the preamplifier and SPM is bundledwith the servo motor power line, separate them from eachother.

(e) Improve the cable routing between the motor andpreamplifier.If the cables (including those within a terminal box)extending from the motor to the preamplifier are close to thepower line, separate the cables from the power line.

(f) The SPM is faulty.Replace the SPM or SPM control printed circuit board.

SPMS

enso

r



Shielded cable


- 163 -


The one-rotation signal for Cs contour control is not generated.<1> When SPM TYPE2 is used, phase A/B/Z on the high-resolution

(1000 to 3000 λ) side of the high-resolution magnetic pulse coderon the spindle side has a problem.

<2> When SPM TYPE4 is used, the spindle sensor connected to JY5 isfaulty.Troubleshoot as in the case of alarm code 42.

Troubleshooting when this alarm is issued (at the time of referenceposition return on the Cs axis)

(a) The setting of a parameter is incorrect.Referring to Chapter 2 in "FANUC AC SPINDLE MOTORα series Parameter Manual (B-65160E)," check theparameter for sensor setting.

(b) The sensor is not adjusted correctly.Adjust the sensor according to Subsection 4.3.4 of Part I ofthis manual. If the signal is not observed, replace the sensor.

(c) The cable is disconnected.Check the check pin PSD on the check board. If the signal isnot observed per sensor rotation, replace the cable.



- 164 -


<1> The position where the one-rotation signal of the α position coderis generated is incorrect.

<2> The position where the one-rotation signal of the MZ sensor or BZsensor is generated is incorrect.

<3> The position where the one-rotation signal of α position coder S isgenerated is incorrect.

(1) If orientation based on the external one-rotation method is used(a) The settings of parameters are incorrect.

Check that the gear ratio data matches the specification ofthe machine.

FS0 FS15 FS15i FS16i/16, PM-D/F Description69356937

33153317

31713173

41714173

Number of teeth on the spindleside

69366938

33163318

31723174

41724174

Number of teeth on the positiondetector side

(b) Slippage between the spindle and motorCheck that there is no slippage between the spindle andmotor. Orientation based on the external one-rotationmethod is not applicable to V-belt connection.

(2) Troubleshooting in other cases(a) The setting of a parameter is incorrect.


(b) A sensor (MZ sensor or BZ sensor) is not adjusted correctly.Adjust the sensor according to Subsection 4.3.4 of Part I ofthis manual. If the signal is not observed, replace the sensor.

(c) The α position coder is faulty.Check the check pin PSD on the spindle check board. If thesignal is not generated per rotation, replace the positioncoder.

(d) The shielding of the cable between the sensor and SPM isfaulty.Referring to Chapter 9, "Connection," in "FANUC SERVOAMPLIFIER α series Descriptions (B-65162E)," check theshielding of the cable.

(e) The signal cable is bundled with the servo motor power line.If the cable between the sensor and SPM is bundled with theservo motor power line, separate them from each other.

(f) The SPM is faulty.Replace the SPM or SPM control printed circuit board.

SPMS

enso

r

The cable isconnected to thepin specified inthe specificationson the sensorside.


Shielded cable

MZ or BZ sensor

SPMS

enso

r


Shielded cable

α position coder


- 165 -


<1> The one-rotation signal of the α position coder is not generated.<2> The one-rotation signal of the MZ sensor or BZ sensor is not

generated.<3> The one-rotation signal of α position coder S is not generated.

Troubleshooting when this alarm is issued(a) The setting of a parameter is incorrect.


(b) The MZ sensor or BZ sensor is not adjusted correctly.Adjust the sensor according to Subsection 4.3.4 of Part I ofthis manual. If the sensor cannot be adjusted or the signal isnot observed, replace the connection cable and sensor.

(c) The α position coder is faulty.Check the check pin PSD on the spindle check board. If thesignal is not generated per rotation, replace the connectioncable and position coder.



The position coder signal of the spindle on the mater side used in thedifferential speed mode is disconnected.



An error occurred in the A/D converter.

When this alarm is issued, replace the SPM or SPM control printedcircuit board.


The one-rotation signal of the position coder cannot be detectednormally during thread cutting.



- 166 -


<1> The count value of α position coder signal pulses is abnormal.<2> The pulse count value of the MZ sensor or BZ sensor is abnormal.

Phases A and B for the position coder have a feedback pulse count of4096 p/rev per spindle rotation. The SPM checks the pulse counts ofphases A and B equivalent to the position coder each time a one-rotation signal is generated. The alarm is issued when a pulse countbeyond the specified range is detected.



(2) Troubleshooting in other cases(a) The setting of a parameter is incorrect.


(b) A sensor (MZ sensor or BZ sensor) is not adjusted correctly.Adjust the sensor according to Subsection 4.3.4 of Part I ofthis manual.

(c) The shielding of the cable between the sensor and SPM isfaulty.Referring to Chapter 9, "Connection," in "FANUC SERVOAMPLIFIER α series Descriptions (B-65162E)," check theshielding of the cable.

(d) The signal cable is bundled with the servo motor power line.If the cable between the sensor and SPM is bundled with theservo motor power line, separate them from each other.

(e) The SPM is faulty.Replace the SPM or SPM control printed circuit board.

SPMS

enso

r

The cable isconnected to thepin specified inthe specificationson the sensorside.


Shielded cable

MZ or BZ sensor

SPMS

enso

r


Shielded cable

α position coder


- 167 -


In the differential speed mode, the spindle speed on the master side(remote) converted to a motor speed on the slave side (local) exceededthe maximum allowable speed of the motor.

Troubleshooting when this alarm is issuedA differential speed is calculated by multiplying the speed on thetarget speed by a gear ratio.Ensure that the maximum allowable speed of the motor is notexceeded.


A value obtained by internal calculation in spindle synchronizationexceeded the allowable range.

Troubleshooting when this alarm is issued(a) The setting of parameters for gear ratio setting is incorrect.

Check if an excessively large gear ratio is set.(b) Position gain setting limit

If correct gear ratio data is set, increase the position gainvalue in spindle synchronization.


to6559

3056to

3059

4056to

4059


6565to

6568

3065to

3068

4065to

4068

Position gain in the servomode/spindle synchronization


The PSM detected that the DC link voltage was excessively low.






- 168 -

3.4.2.11 Alarm codes 52 and 53

The synchronization signal (ITP) in communication data transferred toand from the CNC stopped.

Troubleshooting when this alarm is issued(a) The SPM is faulty.

Replace the SPM or SPM control printed circuit board.(b) The CNC is faulty.

Replace the board or module related to the serial spindle.


A large current flowing in the motor for a long time was detected.



In spindle switching control or output switching control, a mismatchbetween the switching request signal (SPSL or RSL) and the power linestate check signal (MCFN, MFNHG, RCH, or RCHHG) continuesduring motor activation.

Troubleshooting when this alarm is issued(a) The magnetic contactor (switch unit) for power line

switching is faulty.If the contact is inoperative, check the power supply of themagnetic contactor. If the magnetic contactor is stillinoperative, replace the magnetic contactor.

(b) The I/O unit or wiring for checking the contact of themagnetic contactor is faulty.If a defect is found in the I/O unit or wiring, replace the I/Ounit or wiring.

(c) The sequence (ladder) is incorrect.Modify the sequence so that switching is not performedduring activation. For details of the signals, refer to Chapter10, "Interface Signals," in "FANUC SERVO AMPLIFIER αseries Descriptions (B-65162E)."


- 169 -


The cooling fan of the control circuit stopped.

When this alarm is issued, replace the SPM or the internal coolingfan of the SPM. When replacing the internal cooling fan, seeChapter 4.


The temperature of the regenerative resistance of the PSM (resistanceregenerative type) is excessively high. The PSM is faulty.

(1) If the PSM indicates alarm code 8 or aboveTroubleshoot according to the description of alarm code 8 (or thepertinent code) provided in Section 3.1 of Part II.





The temperature of the main circuit-cooling fan of the PSM isabnormally high.






- 170 -


The internal cooling fan of the PSM stopped.






- 171 -

3.4.3 αC Series Spindle Amplifier Module

For the αC series, only those alarm codes that have the same number asfor the α series and require troubleshooting different from the α seriesare described.For an alarm code not covered by this subsection, see the description ofthe alarm code for the α series spindle amplifier module.


An excessively high motor current was detected.An excessively high current flowed into the DC link of the main circuit.

For SPMC-2.2 to SPMC-11The power module (IPM) of the main circuit detected an excessive load,excessively high current, or decrease in control supply voltage.

(1) If an SPMC from SPMC-2.2 to SPMC-11 indicates this alarmCheck alarm code 09 as well.

(2) If this alarm is issued immediately after a spindle move commandis specified(a) The motor power line is faulty.

Check for a short circuit between motor power lines andshort-circuit to ground, and replace the power line asrequired.

(b) The motor winding has an insulation failure.If the motor is short-circuited to ground, replace the motor.

(c) The parameters specific to the motor are not set correctly.Refer to "FANUC AC SPINDLE MOTOR α seriesParameter Manual (B-65160E)."

(d) The SPMC is faulty.A power element (IGBT, IPM) may be destroyed. Replacethe SPMC.

(3) If this alarm is issued during spindle rotation(a) Belt slippage

The belt between the spindle and motor may be slipping.Clean the pulley and run the belt again.

(b) The parameters specific to the motor are not set correctly.Referring to "FANUC AC SPINDLE MOTOR α seriesParameter Manual (B-65160E)," check the parametersspecific to the motor.


- 172 -

(c) A power element is destroyed.A power element (IGBT, IPM) may be destroyed. Replacethe SPM.If the amplifier setting condition is not satisfied, or cooling isinsufficient because the heat sink is dirty, the powerelements may be destroyed.When the heat sink on the back of the amplifier is too dirty,clean the heat sink, for example, by blowing air. Considerthe use of a structure that prevents the heat sink from beingdirectly exposed to coolant.For the setting condition, refer to "FANUC SERVOAMPLIFIER α series Descriptions (B-65162E)."


The motor speed calculated from the position coder much differs fromthe motor speed estimated in the SPMC.

(1) If this alarm is issued when a rotation command is specified(a) The setting of parameters for position coder setting is

incorrect.Set the bits related to the rotation directions of the positioncoder and spindle and the rotation directions of the spindleand motor. For details, refer to "FANUC AC SPINDLEMOTOR α series Parameter Manual (B-65160E)."

(b) The setting of parameters for gear ratio setting is incorrect.Check if incorrect gear ratio data is set. The gear ratio data isused for conversion from the position coder to a motor speed.So, be sure to set correct values.


to6559

3056to

3059

4056to

4059


(c) Slippage between the spindle and motorMake an adjustment to prevent the belt from slipping.

(2) If this alarm is issued during cuttingThe motor speed is decreased because of an overload. Review thecutting condition.


- 173 -

3.5 POWER-FAILURE BACKUP MODULE

When an alarm is issued, the one-digit 7-segment LED indicates analarm code.


3.5.1 Alarm Code 1

(1) MeaningSub-module C cannot be charged.

(2) Cause and troubleshooting(a) Sub-module C connection error

→ Check the connection.(b) Charging circuit failure

→ Replace the power-failure backup module.

3.5.2 Alarm Code 2

(1) MeaningAfter sub-module C was charged, the voltage decreased for acause.

(2) Cause and troubleshooting(a) Charging circuit failure

→ Replace the power-failure backup module.

3.5.3 Alarm Code 3

(1) MeaningAn abnormal current flowed in sub-module R.


→ If the sum of maximum servo motor outputs exceeds 20kW, use two sub-module R units.

(b) Regenerative circuit failure→ Replace the power-failure backup module.


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3.5.4 Alarm Code 4

(1) MeaningThe regenerative resistance in sub-module R is overheated.

(2) Cause and troubleshooting(a) Sub-module R is placed in conductive state at all times

because of a regenerative circuit failure.→ Replace the power-failure backup module.

3.5.5 Alarm Code 5

(1) MeaningThe supply voltage for driving the thyristor decreased.

(2) Cause and troubleshooting(a) The power supply circuit for driving the thyristor is

abnormal.→ Replace the power-failure backup module.

B-65165E/02 TROUBLESHOOTING

- 175 -

4. HOW TO REPLACE THE FUSESAND PRINTED CIRCUIT BOARDS

4 HOW TO REPLACE THE FUSES ANDPRINTED CIRCUIT BOARDS

WARNINGBefore replacing fuses or printed-circuit boards,make sure that the recharge-under-way LED (red) isoff.

Before replacing fuses or printed circuit boards, see the table givenbelow to find which section or subsection in this manual providesinformation about the related replacement procedure.

TROUBLESHOOTING B-65165E/02

- 176 -


(1) Power supply module

Model Drawing No.Case

disassemblyFuse

replacementPSM-5.5 to 11 A06B-6077-H106 to 111 4.1.1 4.2.1(1)

A06B-6087-H115 to 137 4.1.2 4.2.1(1), (3)A06B-6077-H115 to 130 4.1.2 4.2.1(2), (3)

PSM-15 to 37

A06B-6071-H115 to 130 4.1.3 4.2.1(2), (3)PSM-45, 55 A06B-6087-H145 to 155 4.1.4 4.2.1(1)PSM-15HV to 45HV A06B-6091-H115 to 145 4.1.2 4.2.1(1), (3)PSM-75HV A06B-6087-H175 4.1.4 4.2.1(1)PSMR-3, 5.5 A06B-6081-H103, H106 4.1.1 4.2.1(4), (5)PSMV-11HV A06B-6098-H111 4.1.2 4.2.1(1), (6)

(2) Servo amplifier module


disassemblyFuse

replacementSVM1-12 to 130 A06B-6079-H101 to H106

A06B-6096-H101 to H1064.1.1 4.2.2(1)

SVM1-240, 360 A06B-6079-H107, H108A06B-6096-H107, H108

4.1.2 4.2.2(1),4.2.3(2)

SVM2-12/12 to80/80

A06B-6079-H201 to H209A06B-6096-H201 to H209

4.1.1 4.2.2(1)

SVM3-12/12/12 toSVM3-20/20/40

A06B-6079-H301 to H307A06B-6080-H301 to H307A06B-6096-H301 to H307

4.1.1 4.2.2(1)

SVM1-20HV to60HV

A06B-6085-H102 to H104A06B-6097-H102 to H104

4.1.1 4.2.2(1)

SVM2-20/20HV toSVM2-60/60HV

A06B-6085-H201 to H206A06B-6097-H201 to H206

4.1.1 4.2.2(1)


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(3) Spindle amplifier module (In drawing numbers, # and thesubsequent part is omitted.)


disassemblyFuse

replacement

Replacement ofthe program ROMand the spindlesensor module

SPM-2.2 to 11 TYPE1TYPE4

A06B-6102-H202 to H211A06B-6102-H102 to H111

4.1.1 4.2.3(1) 4.3.1(1)

SPM-15 to 30 TYPE1TYPE4

A06B-6102-H215 to H230A06B-6102-H115 to H130

4.1.2 4.2.3(1), (2) 4.3.1(1)

SPM-45 to 55 TYPE1TYPE4

A06B-6102-H245, H255A06B-6102-H145, H155

4.1.4 4.2.3(1) 4.3.1(1)

SPM-2.2 to 11 TYPE1TYPE2TYPE4

A06B-6078-H102 to H211A06B-6078-H302 to H311

4.1.1 4.3.1(2)

SPM-15 to 30 TYPE1TYPE2 TYPE4

A06B-6088-H115 to H230A06B-6088-H315 to H330

4.1.2 4.2.3(2) 4.3.1(2)

SPM-11 to 30 TYPE3 A06B-6088-H411 to H430 4.1.3 4.2.3(2) 4.3.1(3)SPM-45 to 55 TYPE1

TYPE2TYPE4

A06B-6088-H245, H255A06B-6088-H345, H355A06B-6088-H145, H155

4.1.4 4.2.3(2) 4.3.1(2)

SPM-45 TYPE3 A06B-6088-H445 4.1.5 4.3.1(3)Old SPM15 to 30 A06B-6078-H215 to H330 4.1.3 4.2.3(2), (3) 4.3.1(6), (7)Old SPM11 A06B-6078-H411 4.1.3 4.2.3(2), (3) 4.3.1(7)SPMC2.2 to 11 A06B-6082-H202 to H211 4.1.1 4.3.1(4)SPMC15 to 26 A06B-6082-H215 to H226 4.1.2 4.2.3(2) 4.3.1(5)SPM11HV TYPE1

TYPE4A06B-6104-H211A06B-6104-H111

4.1.1 4.2.3(1) 4.3.1(1)

SPM15HV to 45HV TYPE1TYPE4

A06B-6104-H215 to H245A06B-6104-H115 to H145

4.1.2 4.2.3(1), (2) 4.3.1(1)

SPM75HV TYPE1TYPE4

A06B-6104-H275A06B-6104-H175

4.1.4 4.2.3(1) 4.3.1(1)

SPM11HV TYPE1TYPE2TYPE4

A06B-6092-H211A06B-6092-H311A06B-6092-H111

4.1.1 4.3.1(2)

SPM15HV to 45HV TYPE1TYPE2TYPE4

A06B-6092-H215 to H245A06B-6092-H315 to H345A06B-6092-H115 to H145

4.1.2 4.2.3(2) 4.3.1(2)

SPM75HV TYPE1TYPE2TYPE4

A06B-6092-H275A06B-6092-H375A06B-6092-H175

4.1.4 4.3.1(2)

SPM15HV to 45HV TYPE3 A06B-6092-H415 to H445 4.1.4 4.2.3(2) 4.3.1(3)SPM75HV TYPE3 A06B-6092-H475 4.1.5 4.3.1(3)

(4) Power-failure backup module

Drawing No. Case disassembly Fuse replacementA06B-6077-H001 4.1.1 4.2.4(1)A06B-6077-H002 4.1.1 4.2.4(1)


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4.1 CASE DISASSEMBLY

4.1.1 60/90 mm Width Modules

Make sure that the recharge-under-way LED (red) is off.

Recharge-under-wayLED

Remove the face plate.

Remove the face plateby inserting the tip of aflat-blade screwdriverat the hooks (four) onthe face plate.

Face plate

Remove the cases.


- 179 -


Remove the screws fastening the caseand the screws (5 × M4) holding downthe terminal board.

Case 1(chassis)

Case 2(cover)

Remove the printed-circuit board.

Control circuitprinted-circuitboard

Control circuit board

Control circuit board

• Cases for the SVM

• Cases for the PSM and SPM

Remove the screws (2 × M3) fastening theprinted-circuit board.

Remove the screws (4 × M3) fastening theprinted-circuit board.

Wiring board

Remove the IPM.

<1> Remove the screws (5 × M5) fastening the IPM.

Then remove the wiring board.

<2> Remove the IPM.

Note) There is a snubber capacitor between the IPM

and wiring board. When re-assembling, do not

forget to mount it.

Wiring board

IPM


- 180 -


4.1.2 150 mm Width Module (without the Connector Module)

Make sure that the recharge-under-way LED (red) is off.The recharge-under-way LED (red) is at the center of terminal boardTB1. Open the cover at the top of the module, and check the LED.

Terminalboard



Remove the face plateby inserting the tip of aflat-blade screwdriverat the hooks (six) onthe face plate.

Face plate

Remove the case.

８×ネジ

ケースを取り付けて

いるネジ（８ヶ所）

を外し、ケースをフ

ランジ面から手前に

引いて外します。

放

熱

器

ファン

ケース

Remove the screws(eight) fastening thecases, and removethe case by pulling itoff the flangesurface.

Screws (eight) Fan

Heat

sinkCase


- 181 -



Heatsink

Fan

Printed-circuitboard

Hook

PCB support

While spreading the PCB support hooks, pull the printed-circuitboard off the flange surface to remove it.


Wiringboard

PCB supports (two)

Remove the IGBT. TB1

Capacitor board

IGBT

Wiringboard

配線板

<1> Remove terminal board TB1 (for SPMonly).

<2> Remove the electrolytic capacitorboard(for PSM30 and SPM only).

<3> Remove the wiring board.<4> Remove the IGBT.


- 182 -


4.1.3 150 mm Width Module (with the Connector Module)

Make sure that the recharge-under-way LED (red) is off.The recharge-under-way LED (red) is at the center of terminal boardTB1. Open the cover at the top of the module, and check the LED.

Terminalboard



Remove the faceplate by insertingthe tip of a flat-bladescrewdriver at thehooks (six) on theface plate.

Face plate

Remove connector PCB.

Connector PCB

Remove the self-tapping screws holding downconnector PCB, and shift it in the directionindicated with an arrow (left) to remove theprinted-circuit board.


- 183 -


Remove the case.

８×ネジ

ケースを取り付けて

いるネジ（８ヶ所）

を外し、ケースをフ

ランジ面から手前に

引いて外します。

放

熱

器

ファン

ケース


Heatsink

Fan


Hook

PCB support

While spreading the PCB support hooks, pull the printed-circuitboard off the flange surface to remove it.

Printed-circuitboardWiring

board

PCB supports (two)

Remove the screws(eight) fastening thecases, and removethe case by pulling itoff the flangesurface.

Screws (eight) Fan

Heat

sinkCase


- 184 -


Remove the IGBT.

TB1

Capacitor board

IGBT

Wiring

board

Wiring

board

<1> Remove terminal board TB1(for SPM only).

<2> Remove the electrolytic

capacitor board.

<3> Remove the wiring board.<4> Remove the IGBT.


- 185 -


4.1.4 300-mm Wide Module (without the Connector Module)

Make sure that the recharge-under-way LED (red) is off. View therecharge-under-way LED (red) from the upper part of the DC linkcover.

Cover

LED

Remove the DC link cover and motor power line cover.

DC linkcover

Motor powerline cover

Remove the self-tappingscrews (8 × M4) fromthe DC link cover andmotor power line cover.


Remove the screws(5 × M4) from theface plate.

Screw (× 5)


- 186 -


Remove the right side plate.

Screw (7 × M4)

Remove thescrews (7 × M4)from the right sideplate.

Heat sink

Right side plate

Remove the control printed circuit board.

HookHeat sink

Bottom plate

PCB supportPCB support

Insert the tip of a screwdriver into the opening on the bottomplate, and while spreading the hook of the PCB support, pullthe printed circuit board off the flange surface toward you.

Control printed circuitboard

Wiring board



- 187 -


Remove the LED board for the recharge indicator.

LED board for the recharge indicator

Screw (× 2)

Remove thescrews (2 × M4)from the LEDboard, and removethe board.

Heat sink

Remove the top plate.

Heat sink

Top plate

Screw (2 × M5)

Screw (5 × M4)

<1> Remove the screws (2 × M5)from the DC link jumper.

<2> Remove the screws (5 × M4)from the top plate.

<3> Remove the top plate. (The topplate comes off together withthe terminal block TB1.)

Remove the driver printed circuit board.

Carefully insert the tip of a screwdriverand pull out the cable. (Be careful notto force the screwdriver into theconnector; otherwise, the claw maybreak.)

<1> From the two connectors,detach the cables of the currentsensor.

<2> Remove the screws (3 × M4)from the driver printed circuitboard.

<3> Pull up the driver printed circuitboard to remove it.

Connector × 2

Screw × 3Driver printed circuit board


- 188 -


Remove the left side and bottom plates.

<1> Locate the jumpers that connect theterminal block TB2 and the wiringboard. Remove the screws (3 ×M6) holding the jumpers to thewiring board.

<2> Remove the screws (2 × M5) thatconnect the capacitor and jumpers.

<3> Remove the screws (6 × M4) fromthe left side and bottom plates.

<4> Remove the left side and bottomplates. (These plates come offtogether with the electrolyticcapacitor and terminal block TB2.)

Electrolyticcapacitor

Wiring boardScrew (2 × M5)

Screw (3 × M6)

Screw (6 × M4)

Left side plate Bottom plate


- 189 -


Remove the power printed circuit board.<1> Remove the screws that connect the IGBT

and wiring board (9 × M6, 12 × M4).<2> Remove the screws of the thermostat TH1

(2 × M4).<3> Remove the screws that connect the wiring

board and heat sink (2 × M4, 1 × M5).<4> Remove the wiring board.

TH1

FG

Wiring board

Remove the IGBT.

IGBT


- 190 -


4.1.5 300-mm Wide Module (with the Connector Module)

Make sure that the recharge-under-way LED (red) is off. View therecharge-under-way LED (red) from the upper part of the DC linkcover.

Cover

LED

Remove the DC link cover and motor power line cover.

DC linkcover

Motor powerline cover

Remove the self-tappingscrews (8 × M4) fromthe DC link cover andmotor power line cover.


Remove the screws (5 × M4)from the face plate.

Screw (× 5)


- 191 -


Remove the right side plate.

Screw (7 × M4)

Remove thescrews (7 × M4)from the right sideplate.Heat sinkPlate

Remove the connector module and plate.

Connector module

Control printedcircuit board

<1> Remove the screws (3 × M3) from theconnector module.

<2> Pull the connector module out of thecontrol printed circuit board.

<3> Remove the screws (4 × M4) from theplate, and remove the plate.

Plate

Screw (3 × M3)

Screw (4 × M4)

Heat sink

Upper side plate

Heat sink

Bottom plate


- 192 -


Remove the control printed circuit board.

HookHeat sink

Bottom plate

PCB supportPCB support

Insert the tip of a screwdriver into the opening on the bottomplate, and while spreading the hook of the PCB support, pull theprinted circuit board off the flange surface toward you.


Wiring board

Control printedcircuit board

Remove the LED board for the recharge indicator.

LED board for the recharge indicator

Screw (x 2)

Remove thescrews (2 × M4)from the LEDboard, and removethe board.

Heat sink


- 193 -


Remove the top plate.

Heat sink

Top plate

Screw (2 × M5)

Screw (5 × M4)

<1> Remove the screws (2 × M5)from the DC link jumper.

<2> Remove the screws (5 × M4)from the top plate.

<3> Remove the top plate. (The topplate comes off together withthe terminal block TB1.)

Remove the driver printed circuit board.

Carefully insert the tip of a screwdriverand pull out the cable. (Be careful notto force the screwdriver into theconnector; otherwise, the claw maybreak.)

<1> From the two connectors,detach the cables of the currentsensor.

<2> Remove the screws (3 × M4)from the driver printed circuitboard.

<3> Pull up the driver printed circuitboard to remove it.

Connector × 2

Screw × 3Driver printed circuit board


- 194 -


Remove the left side and bottom plates.

<1> Locate the jumpers that connect theterminal block TB2 and the wiringboard. Remove the screws (3 × M6)holding the jumpers to the wiringboard.

<2> Remove the screws (2 × M5) thatconnect the capacitor and jumpers.

<3> Remove the screws (6 × M4) fromthe left and bottom plates.

<4> Remove the left and bottom plates.(These plates come off together withthe electrolytic capacitor andterminal block TB2.)

Electrolyticcapacitor

Wiring boardScrew (2 × M5)

Screw (3 × M6)

Screw (6 × M4)

Left side plate Bottom plate


- 195 -


Remove the power printed circuit board.

<1> Remove the screws that connect the IGBTand wiring board (9 × M6, 12 × M4).

<2> Remove the screws of the thermostat TH1(2 × M4).

<3> Remove the screws that connect the wiringboard and heat sink (2 × M4, 1 × M5).

<4> Remove the wiring board.

TH1

FG

Wiring board

Remove the IGBT.

IGBT


- 196 -


4.2 REPLACING FUSES

4.2.1 Power Supply Module

(1) Replacing fuses on the control printed circuit boarda) F1 for 200 V for the control powerb) F2 for 200 V for CX1B external cooling fan

For A16B-2202-0423 to 0424 only.

(2) Replacing a fuse on the control printed circuit boarda) F1 for 200 V for the control power

F2 (FU2)

Fuse Specification drawing No. Remarks

F1 (FU1) A60L-0001-0359 250V F5.0A DAITO HM50

F2 (FU2) A60L-0001-0175#2.0A 250V F2.0A DAITO HM20

Control printed circuit board(A16B-2202-0420 to 0424)(A16B-2203-0220)

F1 (FU1)


F1 A60L-0001-0245#GP75 250V F7.5A DAITO GP75

Control printed circuit board

(A16B-2202-0080)

F1


- 197 -


(3) Replacing a fuse on the power printed circuit boarda) F1 for the external cooling fan

(4) Replacing a fuse on the control printed circuit boarda) F1 for 200 V for the control power


F1 A60L-0001-0175#0.5A 250V F0.5A DAITO HM05

Power printed circuit board

(A20B-1005-0590 to 0592)

F1


F1 A60L-0001-0175#5.0A 250V F5.0A DAITO HM50


(A16B-2201-0890)

F1


- 198 -


(5) Replacing a fuse on the power printed circuit boarda) F1 for 200 V for the external cooling fan

(6) Replacing fuses on the AC reactora) F1 to F3 for main circuit protection


F1 A60L-0001-0359 250V F5.0A DAITO HM50


(A16B-2300-0100)

F1


F1

F2

F3

A60L-0001-0362#100U CR6L-100/UL

AC reactor (A81L-0001-0144)

F2

F3

F1

400T

L11

L31

400R

L21 400S


- 199 -


4.2.2 Servo Amplifier Module

(1) Replacing a fuse on the unit (control printed circuit board)a) F1 for the 24-V control power

F1


F1 A60L-0001-0290#LM32C 48V F3.2A DAITO LM32C


- 200 -


4.2.3 Spindle Amplifier Module

(1) Replacing a fuse on the control printed circuit boarda) F1 for the 24-V control power

(2) Replacing a fuse on the power printed circuit boarda) F2 for 200 V for the external cooling fan

F1




(A16B-2203-050x)

F2


F2 A60L-0001-0175#0.5A 250V F5.0A DAITO HM50

Wiring board

(A20B-1005-057x,

A20B-1006-048x, -055x, -0890)


- 201 -


(3) Replacing a fuse on the unit (control printed circuit board)a) F2 for the 24-V control power

F2




- 202 -


4.2.4 Power-Failure Backup Module

(1) Replacing fuses on the unit (control printed circuit board)a) FU1 for 200 V for the control powerb) FU2 for 200 V for the control power

Fuses a) and b) above are provided for A16B-2203-0020only.

c) FU3 for the 24-V control power


FU1

FU2A60L-0001-0396#10A 216-010 (ECX)

FU3 A60L-0001-0290#LM32C 48V F3.2A DAITO LM32


(A16B-2002-0790, A16B-2003-0020)

FU3

FU2

FU1


- 203 -


4.3 OTHER COMPONENTS

4.3.1 Replacing the SPM Program ROM and Spindle Sensor Module

(1) SPM type 1 and type 4

ROM (Note that the notch is upward.)

Name Specification drawing No. Remarks

ROM A06B-6102-H520 9D20 series

Spindle sensor module A20B-2902-0620 For type 4 only

D4

AM1Spindle sensor module: For A16B-2203-0503-0505 only

Control printed circuit board (A16B-2203-0500-0505)

(2) SPM types 1 to 4The drawing number of the spindle sensor module differsdepending on the SPM type as follows:SPM type 2: A20B-2901-0851

Mounting location = MD4, MD5, MD6SPM type 4: A20B-2902-0620 (old specification A20B-2902-

0610 also allowed)Mounting location = MD4, MD6

NOTEFor SPM type 4, the revision of the control printedcircuit board must be the following:A16B-2202-0433, 0434: 16E or laterA16B-2202-0435: 13C or later


- 204 -


ROM


ROM A06B-6072-H500 9D0A series

Spindle sensor module See the above table. MD4, 5, 6

MG11

Spindle sensor module × 3


(A16B-2202-0430 to 0435, A16B-2203-0330 to 0332)

MD4

MD5

MD6

(3) SPM type 3

ROM



Spindle sensor module A20B-2901-0851

MG11

MD4

Spindle sensor module

Control printed circuit board (A06B-2202-0440)

(4) SPMC-2.2 to 11

ROM





MC8

Control printed circuit board (A20B-2001-0780, 0781)


- 205 -


(5) SPMC-15 to 26

ROM





D8


(6) SPM type 1 of old specification

ROM



Spindle sensor module A20B-2901-0851MF4

MD3Spindle sensor module × 1


(7) SPM types 2 and 3 of old specification

ROM



Spindle sensor module A20B-2901-0851MF4

MD3MD6Spindle sensor module × 4


III. MOTOR MAINTENANCE

1. AC SERVO MOTORB-65165E/02 MOTOR MAINTENANCE MAINTENANCE

- 209 -

1 AC SERVO MOTOR MAINTENANCEGenerally, AC servo motors have no parts that wear off or that must bereplaced periodically, unlike DC servo motors, which have brushes thatmust be replaced periodically.However, you should perform periodic maintenance for servo motorsso as to keep their initial performance as long as possible and to preventbreakdowns. AC servo motors have precision detectors. Theirincorrect use or damage caused during transportation or assembling canresult in breakdowns or accidents. We recommend that you inspect theservo motors periodically according to the descriptions given below.

1. AC SERVO MOTOR MAINTENANCE MOTOR MAINTENANCE B-65165E/02

- 210 -

1.1 RECEIVING AND KEEPING AC SERVO MOTORS

When you receive an AC servo motor, make sure that:

The motor is exactly the one you ordered, in terms of model, shaft,and detector specifications.

No damage has been caused on the motor.

Because FANUC inspects servo motors strictly before shipment, youdo not, in principle, have to inspect them when you receive them.However, you should check the specifications (wiring, current, andvoltage) of the motor and detector carefully, as required.The servo motors should be kept indoors as a rule. The storagetemperature range is -20 to +60C. Do not place or install AC servomotors in the place where:

It is extremely humid and dew is prone to form, There is a steep change in temperature, There is constant vibration, which may cause damage to the shaft

bearings, or There is lots of dust and trash.


- 211 -

1.2 DAILY INSPECTION OF AC SERVO MOTORS

Before starting operation, or periodically (once a week or month), youshould inspect the AC servo motors in terms of the following:

(1) Vibration and noiseCheck the motor for abnormal vibration (by the hand) and noise(by the ear) when the motor is: Not rotating Rotating at low speed Accelerating or deceleratingIf you find anything unusual, contact your FANUC service staff.

(2) Damage on the outsideCheck the motor cover (red plastic) for crevices and the motorsurface (black coating) for scratches and cracks.If you find a crevice in the motor cover, you should replace it asquickly as possible. For how to replace, see the description aboutthe pulse coder in Section 1.4. If you are not sure aboutreplacement, contact you FANUC service staff.If there is a scratch or crack on the motor surface, the user shouldrepair it by himself as required. If coating has come off, dry theportion of interest (or the entire surface) and coat it with paint formachines such as urethane paint.

Replace a motor cover with a crevice or crackas quickly as possible.


- 212 -

(3) Stains and smudgesCheck the motor surface and bolt holes for oil or cutting fluid.Wipe off oil and cutting fluid on the motor surface periodically.Oil or cutting fluid can damage the coating by chemical reaction,possibly leading to a failure.Also check how such a liquid leaks onto the motor, and repair ifneeded.

Wipe off oil and cutting fluid on the motorsurface periodically.

(4) OverheatingCheck to see if the motor is too hot during normal operation.Attach a thermolabel on the motor surface and check it visually tosee if the motor becomes too hot during normal operation.Note) Temperature on the motor surface can exceed 80C

under some conditions. Never touch it by the hand.

Attach a thermolabel andcheck it visually.


- 213 -

1.3 PERIODIC INSPECTION OF AC SERVO MOTORS

We recommend that you inspect the AC servo motors for the followingitems at least once a year.

(1) Observation of torque command (TCMD) and speed command(VCMD) waveformsObserve normal voltage waveforms with an oscilloscope, andkeep notes of them. During periodic inspection, check the currentwaveforms with the records.The waveforms vary according to the operating conditions such asload and cutting speed. Note that you should make comparisonsunder the same condition (for example, during fast traverse to thereference position or low-speed cutting).See descriptions on the check boards in I-4.2.4 for detailedinspection procedures.

(2) Diagnosis by waveformsCheck the measured waveforms to see whether:

<1> The peak current is within the limit to the current in theamplifier.The limit to the amplifier current is listed below.

Limit to the amplifiercurrent

Measured waveform

0

The motor used to accelerate/decelerate with the amplifiercurrent within the limit (the acceleration/deceleration torqueused to be sufficient), but something is wrong now. If this isthe case, the probable causes are: The load conditions in the machine have changed because

of changed friction or reduced machine efficiency afterlong period of use.

Motor failure


- 214 -

Reduced efficiency

Increased friction

[Table 1]

Models Currentvalue

1/3000, 2/2000, 2/3000 12ApM2/3000, M2.5/3000, C3/2000, C6/2000, C12/2000,3/3000HV, 6/3000HV

20Ap

3/3000, 6/2000, 12/2000, 22/1500, C22/1500,12/3000HV, M6/3000HV, M9/3000HV

40Ap

22/3000HV, 30/3000HV, M22/3000HV, M30/3000HV 60Ap6/3000, 12/3000, 22/2000, 30/1200, M6/3000, M9/3000,L6/3000, L9/3000

80Ap

22/3000, 30/2000, 30/3000, 40/2000, 40/2000 (with fan),M22/3000, M30/3000, M40/3000, L25/3000, L50/2000

130Ap

65/2000 240ApM40/3000 (with fan), 100/2000, 150/2000 360Ap300/2000, 400/2000 360Ap 2

<2> The waveform has ripple during constant-speedfeeding(VCMD).

Ripple

Measured waveform(VCMD)

0


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<3> The current waveform has ripple or jumps when the motor isnot rotating(VCMD).

Measured waveform(VCMD)0

Ripple

If you find anything unusual in relation to the above items <1> to<3>, contact your FANUC service staff.


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1.4 REPLACING THE PULSE CODER

This section explains how to replace the pulse coder and motor cover,assuming that the pulse coder has broken down and is in need ofimmediate replacement.When replacing the pulse coder and motor cover, be careful not to givea shock to the pulse coder or motor, because they are precision devicesprone to a breakdown. Also keep them from dust and cutting chips.

(1) Models 1, 2, M2, M2.5<1> Remove the four M4 hexagonal socket head bolts that fasten

the pulse coder. Do not loosen the M3 bolts near each M4bolt.

Pulse coder cver fastening bolts M3PULSECODER COVERFASTENING SCREWS M3

Pulse coder fastening bolts M4 16PULSECODERFASTENING SCREWS M4 16

<2> Remove the pulse coder and Oldham's coupling.

Pulse coder fastening bolts

Pulse coder

M4 16(4)


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<3> Set a new pulse coder and a new Oldham's coupling in themotor. Place the Oldham's coupling with the correctorientation, and engage the teeth.

Mate coupling of theOldham's coupling

Oldham's coupling

<4> Fasten the pulse coder with the four M4 hexagonal sockethead bolts. When tightening the bolts, be careful not to catchthe O-ring mounted on the pulse coder.

O-ring


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(2) Models 3 to 40, M6 to M40, L, C, 3HV to 30HV,M6HV to M30HV<1> Loosen the bolts that retain the red motor cover to remove

the cover. Check whether the pulse coder is of the cableseparation type (the pulse coder cable can be detached fromthe red cover of the pulse coder) or of the cable non-separation type (the cable cannot be detached from thecover). For the replacement of a cable separation type pulsecoder, see Item <2>-1. For the replacement of a cable non-separation type pulse coder, see Item <2>-2.

Motor coverMotor

Packing

Cable non-separationtype pulse coder

Connector

Cable separationtype pulse coder


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<2>-1 (Cable separation type)(a) Remove the cable of the pulse coder by using a screwdriver.

Cover

Cover

<1> <2>

<3>

(b) Remove the four M4 hexagonal socket head bolts that retainthe pulse coder. Do not loosen the M3 bolts that retain thepulse coder cover.

Do not loosenthese bolts.

Oldham'scoupling

M4 10

(c) Remove the pulse coder and Oldham's coupling.(d) Set a new pulse coder and new Oldham's coupling in the

motor. Although the mounting orientation is not specified inparticular, it is recommended that the pulse coder be set withthe same orientation as before the replacement. This isbecause of the convenience of cabling. Place the Oldham'scoupling with the correct orientation, and engage the teeth.

(e) Fasten the pulse coder with the four M4 hexagonal sockethead bolts.


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(f) Replace the packing on the motor cover mounting surface.Reusing old packing cannot provide sufficient sealingperformance. Whenever taking off the motor cover, be sureto replace the packing.

(g) Connect the cable of the pulse coder.(h) Install the motor cover. Be careful not to catch the lead wires

of the pulse coder. After installing the motor cover, fastenthe cover using the M4 hexagonal socket head bolts.

<2>-2 (Cable non-separation type)(a) Detach the cannon connector of the pulse coder from the red

motor cover.(a)-1 Remove the M3 screw that retains the connector.(a)-2 Shift the rubber packing, and remove the C-ring that

retains the insulator on the rear side (connection side)of the connector to separate the connector housingfrom the terminal section. Replace the rubberpacking with a new one.

(a)-3 Remove the connector terminal section from themotor cover.

(a)-4 Set the housing in the removed pulse coder (the pulsecoder to be replaced with a new one) in place, andhold the housing with the C-ring.

(b) Cut the lead wires of the thermal switch. The wires shouldbe cut at the root of the crimp terminals where possible.

(c) Remove the four M4 hexagonal socket head bolts that retainthe pulse coder. Do not loosen the M3 bolts that retain thepulse coder cover.

Do not loosenthese bolts.

Oldham'scoupling

M4 10

(d) Remove the pulse coder and Oldham's coupling.


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(e) Set a new pulse coder and new Oldham's coupling in themotor. Although the mounting orientation is not specified inparticular, it is recommended that the pulse coder be set withthe same orientation as before the replacement. This isbecause of the convenience of cabling. Place the Oldham'scoupling with the correct orientation, and engage the teeth.

(f) Fasten the pulse coder with the four M4 hexagonal sockethead bolts.

(g) Replace the packing on the motor cover mounting surface.Reusing old packing cannot provide sufficient sealingperformance. Whenever taking off the motor cover, be sureto replace the packing.

(h) Install the connector in the cover in the reverse order of step(a). Keying is provided for the connector insulator (theinsulating material around the terminals). So, performkeying (phase) alignment when installing the connector.

(i) Connect the lead wires of the thermal switch. Peel off about1 cm of the jacket from the cut end of each motor lead wire,and tie the wire to the terminal of the pulse coder. Use of acrimp terminal is recommended for connection. (In case ofan emergency, insulate both connection portions withinsulating tape.)

(j) Install the motor cover. Be careful not to catch the lead wiresof the pulse coder. After installing the motor cover, bolt thecover.

Cannon connector

Thermal wire

Cut the wire at the root ofthe crimp terminal.


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(3) Models 65 to 150<1> Loosen the bolts that retain the red motor cover to remove

the cover. Check whether the pulse coder is of the cableseparation type (the pulse coder cable can be detached fromthe red cover of the pulse coder) or of the cable non-separation type (the cable cannot be detached from thecover). For the replacement of a cable separation type pulsecoder, see Item <2>-1. For the replacement of a cable non-separation type pulse coder, see Item <2>-2.

Cable non-separationtype pulse coder

Connector

Cable separationtype pulse coder

<2>-1 (Cable separation type)(a) Remove the cable of the pulse coder by using a screwdriver.

Cover

Cover

<1> <2>

<3>

(b) Remove the four M4 hexagonal socket head bolts that retainthe pulse coder. Do not loosen the M3 bolts that retain thepulse coder cover.

(c) Remove the pulse coder and Oldham's coupling.


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(d) Set a new pulse coder and new Oldham's coupling in themotor. Although the mounting orientation is not specified inparticular, it is recommended that the pulse coder be set withthe same orientation as before the replacement. This isbecause of the convenience of cabling. Place the Oldham'scoupling with the correct orientation, and engage the teeth.

(e) Fasten the pulse coder with the four M4 hexagonal sockethead bolts.

(f) Replace the packing on the motor cover mounting surface.Reusing old packing cannot provide sufficient sealingperformance. Whenever taking off the motor cover, be sureto replace the packing.

(g) Connect the cable of the pulse coder.(h) Install the motor cover. Be careful not to catch the lead wires

of the pulse coder. After installing the motor cover, bolt thecover.

<2>-2 (Cable non-separation type)(a) Remove the cannon connector of the pulse coder from the

motor terminal box.(a)-1 Remove the M3 screw that retains the connector.(a)-2 Shift the rubber packing, and remove the C-ring that

retains the insulator on the rear side (connection side)of the connector to separate the connector housingfrom the terminal section. Replace the rubber packingwith a new one.

(a)-3 Pull out the connector terminal section from theterminal box toward the pulse coder.

(a)-4 Set the housing in the removed pulse coder (the pulsecoder to be replaced with a new one) in place, and holdthe housing with the C-ring.

(b) Cut the lead wires of the thermal switch. The wires shouldbe cut at the root of the crimp terminals where possible.

(c) Remove the four M4 hexagonal socket head bolts that retainthe pulse coder. Do not loosen the M3 bolts that retain thepulse coder cover.

(d) Remove the pulse coder and Oldham's coupling.(e) Set a new pulse coder and new Oldham's coupling in the

motor. Although the mounting orientation is not specified inparticular, it is recommended that the pulse coder be set withthe same orientation as before the replacement. This isbecause of the convenience of cabling. Place the Oldham'scoupling with the correct orientation, and engage the teeth.

(f) Fasten the pulse coder with the four M4 hexagonal sockethead bolts.


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(g) Replace the packing on the motor cover mounting surface.Reusing old packing cannot provide sufficient sealingperformance. Whenever taking off the motor cover, be sureto replace the packing.

(h) Install the connector in the cover in the reverse order of step(a). Keying is provided for the connector insulator (theinsulating material around the terminals). So, performkeying (phase) alignment when installing the connector.

(i) Connect the lead wires of the thermal switch. Peel off about1 cm of the jacket from the cut end of each motor lead wire,and tie the wire to the terminal of the pulse coder. Use of acrimp terminal is recommended for connection. (In case ofan emergency, insulate both connection portions withinsulating tape.)

(j) Install the motor cover. Be careful to keep the lead wires ofthe pulse coder clear of the motor cover. After installing themotor cover, bolt the cover.


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1.5 SPECIFICATION NUMBERS OF REPLACEMENT PARTS

The following lists the ordering specification numbers formaintenance:

(1) Ordering specifications of pulse coders<1> Ordering specifications of pulse coders with no motor cover

Models 1 to 2, M2 to M2.5A290-0371-T575 : A64 (with Oldham's coupling)A290-0371-T577 : I64 (with Oldham's coupling)A290-0371-T588 : A1000 (with Oldham's coupling)

Models 3 to 400, M6 to M40, L, C, 3HV to30HV, and M6HV to M30HV Cable separation type

A860-0360-V501: A64A860-0365-V501: I64A860-0370-V502: A1000A860-0360-V906: Cable assembly (common to A64,

I64, and A1000)A290-0501-V535: Oldham's coupling (to be replaced

together with the pulse coder at atime)

Cable non-separation type (reference)A860-0360-T201 : A64A860-0365-T101 : I64A860-0370-T201 : A1000A290-0501-V535: Oldham's coupling (to be replaced

together with the pulse coder at atime)

<2> Ordering specifications of pulse coders with a motor cover

Models 3 to 6, M6 to M9, L6 to L9, C3 to C6,3HV to 6HV, and M6HV to M9HVA290-0121-T575 : A64A290-0121-T577 : I64A290-0121-T588 : A1000

Models 12 to 40, M22 to M40, L25 to L50, C12 toC22, 12HV to 30HV, and M22HV to M30HVA290-0141-T575 : A64A290-0141-T577 : I64A290-0141-T588 : A1000


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(2) Ordering specifications of motor coversA290-0121-X035 : 3 to 6, M6 to M9, L6 to L9, C3 to

C6, 3HV to 6HV, M6HV to M9HVA290-0141-X035 : 12 to 40, M22 to M40, L25 to L50,

C12 to C22, 12HV to 30HV, M22HVto M30HV

(3) Oldham's couplingA290-0501-V535

(4) PackingA290-0511-X043 : 3 to 6, M6 to M9, L6 to L9, C3 to

C6, 3HV to 6HV, M6HV to M9HVA290-0501-X043 : 12 to 40, M22 to M40, L25 to L50,

C12 to C22, 12HV to 30HV, M22HVto M30HV

A290-0301-X008 : 65 to 150

(5) Rubber packing and nylon bandA290-0651-X034 : Rubber packingA6-NYB-T1 : Nylon band

2. SPINDLE MOTORB-65165E/02 MOTOR MAINTENANCE MAINTENANCE

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2 SPINDLE MOTOR MAINTENANCE

2. SPINDLE MOTOR MAINTENANCE MOTOR MAINTENANCE B-65165E/02

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2.1 PREVENTIVE MAINTENANCE

To maintain the original performance and reliability of the spindlemotor for a long time, it is necessary to inspect them as describedbelow.

(1) Visual inspection

WARNINGBe careful not to be struck by electric shocks orcaught in gears or other mechanisms duringinspection. When taking corrective actions, keep theentire machine switched off.

Inspection item Symptom ActionNoise or abnormalvibration

There is unusual noiseor vibration.The vibrationacceleration of themotor exceeds 0.5 G atthe maximum speed.

Check the following and take necessary actions: Base and installation Centering accuracy of directly coupled section Abnormal sound from motor shaft bearings (See "Motor shaft bearing"

below.) Vibration of or noise from the reducer or belts Amplifier failure Fan motor failure (See "Fan motor" below.)

Cooling air path The cooling air path isclogged with dust.

Clean the stator vents and fan motor on a regular basis.

Motor surface Cutting fluid on themotor surface.

Clean the motor surface. If the motor is splashed excessively with coolant, place a cover or take a

similar action.If the fan motor can be rotated by thehand,

Replace the fan motor.Not rotating.

If the fan motor cannot be rotated by thehand,

Remove foreign materials, ifany. Adjust its mountingposition by loosening the boltsand tightening them again.If unusual noise still remains,replace the fan motor.

Fan motor

Unusual sound Remove foreign materials, if any. Adjust its mounting position by looseningthe bolts and tightening them again.If unusual noise still remains, replace the fan motor.

Motor shaftbearing

Unusual sound fromthe motor shaft bearing

Replace the shaft bearing, and check the shaft for centering accuracy. Alsocheck on the radial load. Before replacing the shaft bearing, contact yourFANUC service staff.

Cutting fluid in theterminal box

Check the terminal box lid and conduit packing.If there is lot of fluid on the terminal box surface, protect the terminal box byinstalling a shelter over it.

Internal conditionof the terminal box

Loosen screw in theterminal block

Tighten the screw. Check whether there is abnormal vibration during motor rotation.


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(2) Checking the insulation between the winding and frameUse a megohmmeter to measure the insulation resistance on 500VDC. From the measurement result, determine whether theinsulation is acceptable or not according to the following criteria: More than 100 M: Acceptable 10 to 100 M: Deterioration has started. Although there is no

performance problem, periodic check is required. 1 to 10 M: Deterioration is in an advanced state. Special

care must be taken. Periodic check is required. Less than 1 M: Unacceptable. Replace the motor.

CAUTION1 Before measuring insulation resistance, disconnect

the connection to the spindle amplifier module. Ifinsulation resistance is measured with the spindleamplifier module connected, the spindle amplifiermodule may be damaged.

2 During the measurement of insulation resistance,applying voltage to the motor for a long time mayfurther deteriorate the insulation of the motor.Therefore, the measurement of insulation resistanceshould be performed in a minimum amount of timewhere possible.


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(3) Check items for the coolant through spindle motor T series andL series<1> Check whether coolant is always leaking out from the drains

or notch of the rotary joint support housing. (See Fig. 2.)<2> Check whether the vibration acceleration of the motor

turning at the maximum speed exceeds 0.5 G. (See Fig. 3.)<3> Check whether coolant leaks out from the coolant joint of the

coupling. (See Fig. 4.)<4> Check for backlash in the coupling.

Rotary joint support housingCoupling

Fig. 1 Example of using the coolant through spindle motor


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Coolant joint

d

d

Convex type Concave type

Fig. 4 Example of a coolant joint

Vibrometer

Pickup

Motor body

Fig. 3 Measuring vibration acceleration

Drain

Spare drainNotch

Rotary joint support housing

Fig. 2 Rotary joint support housing


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2.2 MAINTENANCE PARTS

(1) Parts of the terminal box (, P, C, and HV series)

Terminal box assemblyModel When the motor drawing No. ends

with B0 or B9 (Note 1)When the motor drawing No.

ends with B3 (Note 1)Lid of terminal box

1, 1.5,C1, C1.5 A290-0850-T400 A290-0853-V410

2, 3,C2, C3 A290-0853-T400 A290-0853-T401 A290-0853-V410

6 to 15P8 to P226HV to 15HVC6 to C15

A290-0854-T400 A290-0854-T401 A290-0854-V410

18, 2218HV, 22HVC18, C22

A290-0731-T420 A290-0731-T421 A290-0731-V410

30, 4030HV, 40HV A290-0860-T400 A290-0860-T401 A290-1040-X402

P30 to P50 A290-0731-T455 A290-0731-T456 A290-0731-V410P60 A290-0833-T400 A290-0833-T401 A290-1040-X40260HV A290-0860-T403 A290-0860-T404 A290-1040-X402

NOTE1 For example, drawing number A06B-0856-B100

ends with B0, and A06B-0856-B130 ends withB3.

2 The above table may not apply to motors of whichmotor drawing number ends with B9. Contactyour FANUC service representative.

3 The above table may not apply to maintenance partsof high-speed models.


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(2) Terminal box drawing numbers (T series)

Model name Motor drawing No.(Note 4) Terminal box assembly Lid of terminal boxT1.5/15000 A06B-0871-B927T2/15000 A06B-0869-B927T3/12000 A06B-0853-B927

A290-0853-T408 A290-0853-V410

T6/12000 A06B-0854-B927T8/12000 A06B-0855-B927T15/10000 A06B-0857-B927, B928

A290-0854-T408 A290-0854-V410

T22/10000 A06B-0859-B927, B928 A290-0731-T457 A290-0731-V410

NOTE4 The above table may not apply to the motors other

than the drawing numbers listed in the above table.Contact your FANUC service representative.


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(3) Fan motor parts (, P, C, and HV series)

Model Fan cover Fan motor Air flow directionA290-0850-T500(Note 5) A90L-0001-0491/R Backward1, 1.5

C1, C1.5 A290-0850-T501(Note 5) A90L-0001-0491/F ForwardA90L-0001-0442/R Backward2, 3

C2, C3 A290-0853-X501A90L-0001-0442/F ForwardA90L-0001-0443/R Backward6, 8, P8

C6, C8 A290-0854-X501A90L-0001-0443/F Forward

A90L-0001-0444/RS Backward12, 15, P12,P15C12, C15,P18, P22

A290-0856-X501A90L-0001-0444/FS Forward

A90L-0001-0444/R Backward18, 22C18, C22 A290-0856-X501

A90L-0001-0444/F ForwardA290-0731-T510(Note 5) A90L-0001-0318/R Backward30, 40

P30, P40 A290-0731-T511(Note 5) A90L-0001-0318/F ForwardA290-0832-T500(Note 5) A90L-0001-0319/R Backward

P50, P60A290-0832-T501(Note 5) A90L-0001-0319/F Forward

A90L-0001-0457/R Backward6HV, 8HV A290-0854-X501

A90L-0001-0457/F ForwardA90L-0001-0458/RS Backward

12HV, 15HV A290-0856-X501A90L-0001-0458/FS ForwardA90L-0001-0458/R Backward

18HV, 22HV A290-0856-X501A90L-0001-0458/F Forward

A290-0780-T510(Note 4) A90L-0001-0399/R Backward30HV, 40HV

A290-0780-T511(Note 4) A90L-0001-0399/F ForwardA290-0883-T500(Note 4) A90L-0001-0400/R Backward

60HVA290-0883-T501(Note 4) A90L-0001-0400/F Forward

NOTE5 These drawing numbers include fan motors.6 The above table may not apply to motors of which

motor drawing number ends with B9. Contactyour FANUC service representative.

7 The above table may not apply to maintenance partsof high-speed models.


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(4) Fan motor parts (T series)

Model name Motor drawingNo.(Note 9) Fan cover Fan motor Fan base

T1.5/15000 A06B-0871-B927 A290-0850-T504(Note 8) A90L-0001-0491/RLT2/15000 A06B-0869-B927T3/12000 A06B-0853-B927

A290-0853-X501 A90L-0001-0442/RL A290-0853-X507

T6/12000 A06B-0854-B927T8/12000 A06B-0855-B927

A290-0854-X501 A90L-0001-0443/RL A290-0854-X507

T15/10000 A06B-0857-B927, B928T22/10000 A06B-0859-B927, B928

A290-0856-X501 A90L-0001-0444/RL A290-0856-X504

NOTE8 These drawing numbers include fan motors.9 The above table may not apply to the motors other

than the drawing numbers listed in the above table.Contact your FANUC service representative.


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2.3 PERMISSIBLE RADIAL LOAD

Use motor output axes under the permissible radial load listed below orless:

Permissible radial loadModel Output axis end Center of output

axis0.5 294 N (30 kgf) 323 N (33 kgf)1, C1 392 N (40 kgf) 441 N (45 kgf)1.5, C1.5 882 N (90 kgf) 980 N (100 kgf)2, C2 882 N (90 kgf) 999 N (102 kgf)3, C3 1470 N (150 kgf) 1607 N (164 kgf)6, 6HV, C6 1960 N (200 kgf) 2205 N (225 kgf)8, P8, 8HV, C8 2940 N (300 kgf) 3371 N (344 kgf)12, 15, P12, P1512HV, 15HV, C12, C15 2940 N (300 kgf) 3410 N (348 kgf)

18, 22, P18, P2218HV, 22HV, C18, C22 4410 N (450 kgf) 4988 N (509 kgf)

30, 40, P30, P4030HV, 40HV 5390 N (550 kgf) 6134 N (626 kgf)

P50 10780 N (1100 kgf) 12299 N (1255 kgf)P60, 60HV 19600 N (2000 kgf)1/15000 392 N (40 kgf) 441 N (45 kgf)2/15000 490 N (50 kgf) 558 N (57 kgf)3/12000 980 N (100 kgf) 1068 N (109 kgf)6/12000 1470 N (150 kgf) 1656 N (169 kgf)8/8000, P8/8000 1960 N (200 kgf) 2244 N (229 kgf)12/8000, 15/8000P12/8000, P15/8000 2450 N (250 kgf) 2842 N (290 kgf)

18/8000, 22/8000P18/8000, P22/8000 2940 N (300 kgf) 3332 N (340 kgf)

30/8000, P30/8000, P40/8000 5390 N (550 kgf) 6134 N (626 kgf)

NOTE1 When using a belt, adjust the tension of the belt so

that the permissible value listed above is notexceeded.

2 When the belt tension center is positioned beyondthe end of an output axis, the permissible loadbecomes smaller than that at the end of the outputaxis.

B-65165E/02 INDEX

INDEX

α (HV) series power supply modules 9

α (HV) series spindle amplifier module (SPM-HV) 30

α Series and α (HV) Series Spindle Amplifier Module 144

α series power supply modules 7

α series spindle amplifier module (SPM) 29

α series spindle amplifier modules 14

αC series spindle amplifier module (SPMC) 30

αC Series Spindle Amplifier Module 171

150 mm Width Module (with the Connector Module) 182

150 mm Width Module (without the Connector Module) 180

200-V input series 10

300-mm Wide Module (with the Connector Module) 190

300-mm Wide Module (without the Connector Module) 185

400-V input series 13

60/90 mm Width Modules 178

[A]A specified speed cannot be obtained. 52

Abnormal Current Alarms (8, 9, A, b, C, d, and E in the LED

display) 128

AC SERVO MOTOR MAINTENANCE 209

Address descriptions and initial values (SPM) 74

Address descriptions and initial values (SPMC) 75

Alarm code 01 116, 120, 145

Alarm code 02 117, 120, 146

Alarm code 03 117, 120, 147

Alarm code 04 118, 121, 147

Alarm code 05 118, 121


Alarm code 07 119, 122, 148

Alarm code 08 123

Alarm code 09 148

Alarm Code 1 173

Alarm code 11 149


Alarm code 13 151

Alarm code 15 151


Alarm code 17 123

Alarm code 18 123

Alarm Code 2 173

Alarm code 2 125

Alarm code 24 152

Alarm code 25 152


Alarm code 27 155

Alarm code 28 156

Alarm code 29 157

Alarm Code 3 173

Alarm code 30 158

Alarm code 31 158

Alarm code 32 159

Alarm code 33 159

Alarm code 34 159



Alarm code 37 161

Alarm Code 39 162

Alarm Code 4 174

Alarm code 4 125

Alarm code 40 163

Alarm code 41 164

Alarm code 42 165

Alarm code 43 165

Alarm code 44 165


Alarm code 47 166

Alarm code 49 167

INDEX B-65165E/02

Alarm Code 5 174

Alarm code 5 126

Alarm code 50 167

Alarm code 51 167

Alarm code 54 168

Alarm code 55 168

Alarm code 56 169

Alarm code 57 169

Alarm code 58 169

Alarm code 59 170

Alarm code 6 126

Alarm code 7 126

Alarm code 8 127

Alarm code A0 124

Alarm code A1 124

Alarm code A2 124

Alarm codes 19 and 20 152

Alarm codes 52 and 53 168

Alarm codes A, A0 to A4, and other Ax (x for representing an

arbitrary number) 144

ALARM NUMBERS AND BRIEF DESCRIPTIONS 98

Alarms Related to Pulse Coder and Separate Serial Detector

139

An overshoot or hunting occurs. 53

Attaching and Detaching Connectors 92

[B]BATTERY FOR THE ABSOLUTE PULSE CODER 85

[C]CASE DISASSEMBLY 178

Check board connection 68

Check Pin Board 41

Check Terminal On The Printed-circuit Board 34

Check terminal output signals 69

Checking For What Keeps The Mcc From Being Switched On

39

Checking The Feedback Signal Waveform 58

Checking The Power Supply Voltages 35

Checking The STATUS Display 46

Checking The Status Leds 36

Checking The Voltage And Capacity Of The Power 25

CONFIGURATIONS 4, 5

CONFIRMATION OF THE OPERATION 32

Connecting a Battery to Multiple SVMs 88

Connecting A Protective Ground 26

CONNECTING THE POWER 25

Control Power Supply Undervoltage Alarm (2 in the LED

display) 131

Current Conversion Error Alarm 131

Cutting power weakens or acceleration/deceleration slows

down. 54

[D]DAILY INSPECTION OF AC SERVO MOTORS 211

Data numbers 80

DC Link Undervoltage Alarm (5 in the LED display) 131

Diagnosis Screen 135

[E]Example of monitoring data 83

[F]Fan Stopped Alarm (1 in the LED display) 131

Feedback Disconnected Alarm 137

FOR SERIES 0-C 112

FOR SERIES 15 108

FOR SERIES 15i 102

FOR SERIES 16, 18, 20, 21 105

FOR SERIES 16i, 18i, 20i, 21i, AND Power Mate i 99

[H]High-resolution magnetic pulse coder 63

B-81224EN/01 INDEX

HOW TO REPLACE THE FUSES AND PRINTED

CIRCUIT BOARDS 175

[I]INITIALIZING SERVO PARAMETERS 31

Installing a Special Lithium Battery in the SVM (Method 1)

86

Invalid Servo Parameter Setting Alarm 138

IPM Alarms (8., 9., A., b., C., d., and E in the LED display;

note these codes are displayed simultaneously with a period.)

130

[M]M sensor 60

MAINTENANCE PARTS 232

Major characteristics 71

MAJOR COMPONENTS 7

MZ and BZ sensors 61

MZ sensor for α 0.5 (A06B-0866-B390) (old specification) 62

[O]Observation method 72

Observing Data Using the Spindle Check Board 71

Other Alarms 142

OTHER COMPONENTS 203

Overheat Alarm 138

Overload Alarm (Soft Thermal, OVC) 136

OVERVIEW 3, 97

Overview 71

[P]PERIODIC INSPECTION OF AC SERVO MOTORS 213

PERIODIC MAINTENANCE OF SERVO AMPLIFIER 84

PERMISSIBLE RADIAL LOAD 236

POWER SUPPLY MODULE 33, 116

Power Supply Module 7, 27, 196

Power Supply Module (PSM, PSM-HV) 116

Power Supply Module (PSMR) 125

Power Supply Module (PSMV) 119

POWER-FAILURE BACKUP MODULE 173

Power-Failure Backup Module 22, 202

PREVENTIVE MAINTENANCE 228

Principles in outputting the internal data of the serial spindle

76

PSM, PSM-HV 34

PSM, PSM-HV, and PSMV-HV 36

PSMR 37

PSMV-HV 35

[R]RECEIVING AND KEEPING AC SERVO MOTORS 210

REPLACING FUSES 196

Replacing the Battery 91

REPLACING THE PULSE CODER 216

Replacing the SPM Program ROM and Spindle Sensor

Module 203

[S]Selecting The Ground Fault Interrupter That Matches The

Leakage Current 26

Servo Adjustment Screen 133

SERVO AMPLIFIER MODULE 40, 128

Servo Amplifier Module 28, 199

Servo Amplifier Modules 10

Servo Check Board 48

SERVO SOFTWARE 133

SETTING THE PRINTED-CIRCUIT BOARD 27

SPECIFICATION NUMBERS OF REPLACEMENT PARTS

225

Specifying data to be monitored 73

SPINDLE AMPLIFIER MODULE 49, 144

Spindle Amplifier Module 29, 200

Spindle Amplifier Modules 14

Spindle Check Board 67

Spindle check board specifications 67

SPINDLE MOTOR MAINTENANCE 227

INDEX B-65165E/02

START-UP PROCEDURE 23

START-UP PROCEDURE (OVERVIEW) 24

STATUS Display 50

Status Error Indication Function 55

[T]The motor does not turn. 52

The PIL LED (power ON indicator) Is Off. 38

The PIL LED (power-on indicator) is off. 51

The STATUS display is blinking with "--." 51

TROUBLESHOOTING AND ACTION 115

Troubleshooting at Startup 51

[U]Using a Battery Case (A06B-6050-K060) (Method 2) 87

[V]VRDY-OFF Alarm Indicated on the CNC Screen 47

[W]When cutting is not performed, the spindle vibrates, making

noise. 53

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(B-6

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02Ju

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1994

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FANUC LTD

Printed in Japan

maintenance (servo).pdf

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